diff --git a/launch/groundstation.launch b/launch/groundstation.launch
new file mode 100644
index 0000000..5a90e95
--- /dev/null
+++ b/launch/groundstation.launch
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="xbee" default="1"/>
+  <arg name="name" default="robot0"/>
+
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" > 
+      <arg name="port" value="9090"/>
+  </include>
+
+<group if="$(arg xbee)">
+  <include file="$(find xbee_ros_node)/launch/xbeemav.launch" />
+</group>
+  
+  <include file="$(find rosbuzz)/launch/rosbuzz.launch" >
+    <arg name="name" value="$(arg name)"/>
+    <arg name="xbee_plugged" value="false"/>
+    <arg name="script" value="main"/>
+    <arg name="setmode" value="false"/> 
+    <arg name="latitude" value="29.067618"/> 
+    <arg name="longitude" value="-13.662966"/> 
+  </include>
+
+   <node pkg="rosbag" type="record" name="rosbag_groundstation"
+       args="record -o $(find rosbuzz)/buzz_scripts/log/GS- -a">    
+       </node>
+
+</launch>
diff --git a/readme.md b/readme.md
index 6ab29db..142ce16 100644
--- a/readme.md
+++ b/readme.md
@@ -1,4 +1,4 @@
-ROSBuzz
+ROSBuzz
 =========================
 
 Description:
@@ -16,7 +16,7 @@ Requirements
 
 * Buzz:
 
-Follow the required steps in [Buzz](https://github.com/MISTLab/ROSBuzz).
+Follow the required steps in [Buzz](https://github.com/MISTLab/Buzz).
 
 * ROS **base** binary distribution (Indigo or higher):
 
@@ -36,8 +36,16 @@ mkdir -p ROS_WS/src
 cd ROS_WS/src
 git clone https://github.com/MISTLab/ROSBuzz rosbuzz
 cd ..
-catkin_make
+catkin_make -DSIM=1 -DKIN=1
 ```
+Compilation Flags
+=================
+Flags to be passed during compilation.
+
+| Flag  | Rationale                                      |
+|-------|------------------------------------------------|
+| -DSIM | Indicates Compilation for robot or Simulation. |
+| -DKIN | Indicates compilation for ROS Distro Kinetic   |
     
 Run
 ===
@@ -47,6 +55,8 @@ To run the ROSBuzz package using the launch file, execute the following:
     
 Have a look at the launch file to understand what parameters are available to suit your usage. All topics and services names are listed in `launch_config/topics.yaml`. Note : Before launching the ROSBuzz node, verify all the parameters in the launch file. A launch file using gdb is available too (rosbuzzd.launch).
 
+A launch file for a groundstation is also available `launch/groundstation.launch`. It uses the robot ID = 0, which is detected as a groundstation by our Buzz scripts. It also has hardcoded GPS coordinates to avoid the need of a GPS sensor on the groundstation. While a groundstation is never required to deploy a swarm with ROSBuzz, it opens a websocket on ROS, useful to monitor the swarm and it creates a rosbag of the flight.
+
 * Buzz scripts: Several behavioral scripts are included in the "buzz_Scripts" folder, such as "graphformGPS.bzz" uses in [1] and the "testaloneWP.bzz" to control a single drone with a ".csv" list of waypoints. The script "empty.bzz" is a template script.
 
 Publishers