diff --git a/README.md b/README.md
index 94b1979..8750828 100644
--- a/README.md
+++ b/README.md
@@ -1,15 +1,127 @@
 # jetson_nano_cuda_csi_cam_ros
 
+ROS driver for the Jetson Nano DevKit B01 + dual CSI camera.
+
+![](https://rt-net.github.io/images/jetson-nano/jetson_nano_dual_csi.jpg)
+
+This ROS package is designed to acquire images from the one or two CSI cameras attached to the Jetson Nano DevKit B01 and publish them as [sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) in ROS.
+
+## Requirements
+
+* JetPack 4.5.1
+    * CUDA 10.x
+* [dusty-nv/jetson-utils](https://github.com/dusty-nv/jetson-utils)
+* [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu)
+
 ## Installation
 
-### 1. Download and install [dusty-nv/jetson-utils](https://github.com/dusty-nv/jetson-utils).
+### 1. Download and install [dusty-nv/jetson-utils](https://github.com/dusty-nv/jetson-utils)
+
+Check if it is already installed.
+
+```
+ldconfig -p | grep jetson && echo "installed" || echo "not installed yet"
+```
+
+If it is not installed, follow the steps below to install it.
 
 ```
+sudo apt install libglew-dev
 git clone https://github.com/dusty-nv/jetson-utils.git
 mkdir jetson-utils/build
 cd jetson-utils/build
-cmake ..
+cmake -DENABLE_NVMM=OFF ..
 make
 sudo make install
 sudo ldconfig
+```
+
+### 2. Download and install this package
+
+```
+cd ~/catkin_ws/src
+git clone -b $ROS_DISTRO-devel https://github.com/rt-net/jetson_nano_cuda_csi_cam_ros.git
+rosdep install -r -i -y --from-paths jetson_nano_cuda_csi_cam_ros
+catkin build
+catkin source
+```
+
+## Usage
+### Quick Start
+
+To publish the CAM0 camera stream data as `/csr_cam_0/image_raw` topic, run the following command.
+
+```
+roslaunch jetson_nano_cuda_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=640 height:=480 fps:=60
+```
+
+To publish the CAM0 and CAM1 camera stream data as `/csr_cam_0/image_raw` topic and `/csr_cam_1/image_raw` topic, run the following command.
+
+```
+roslaunch jetson_nano_cuda_csi_cam jetson_dual_csi_cam.launch width:=640 height:=480 fps:=60
+```
+
+* __`width`__: image width
+* __`height`__: image height
+* __`fps`__: desired framerate
+
+## LICENSE
+
+(C) 2021 RT Corporation
+
+This repository is licensed under the Apache License, Version 2.0, see [LICENSE](./LICENSE).  
+Unless attributed otherwise, everything in this repository is under the Apache License, Version 2.0.
+
+### Acknowledgements
+
+This project is based on [dusty-nv/ros_deep_learning](https://github.com/dusty-nv/ros_deep_learning) released under the MIT License.
+
+```txt
+/*
+ * Copyright (c) 2018, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+```
+
+This project is based on [peter-moran/jetson_csi_cam](https://github.com/peter-moran/jetson_csi_cam) released under the MIT License.
+
+```
+MIT License
+
+Copyright (c) 2017 Peter Moran
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
 ```
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