diff --git a/README.md b/README.md
new file mode 100644
index 0000000..42b474f
--- /dev/null
+++ b/README.md
@@ -0,0 +1,42 @@
+# jetson_csi_cam
+A ROS package for easily connecting to CSI cameras from the Jetson TX1/TX2 via GStreamer.
+
+# Setup
+## Dependencies
+### GSCam with gstreamer-1.0 support
+First, clone `gscam` ([ROS documentation](http://wiki.ros.org/gscam), [Github page](https://github.com/ros-drivers/gscam)) 
+into your `catkin_workspace`.
+
+```
+cd ~/catkin_workspace/src
+git clone https://github.com/ros-drivers/gscam.git
+```
+
+Then edit `./gscam/Makefile` and add the CMake flag `-DGSTREAMER_VERSION_1_x=On` to the first line of the file, so 
+that it reads:
+
+    EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 -DGSTREAMER_VERSION_1_x=On
+
+While this is only necessary if you have both `gstreamer-0.1` and `gstreamer-1.0` installed simultaneously, it 
+is good practice. We will build this package in the 'Build' step.
+
+### jetson_csi_cam install
+Now that we have gscam with gstreamer-1.0 support, clone this repository into you `catkin_workspace`.
+
+```
+cd ~/catkin_ws/srs
+git clone https://github.com/peter-moran/jetson_csi_cam.git 
+```
+### Building
+Now we build and register `gscam` and `tegra_csi_cam` in ROS.
+```
+cd ~/catkin_ws
+catkin_make
+source ~/.bashrc
+```
+# Usage
+## Publishing and viewing the camera stream
+To publish the camera stream, use:
+```
+roslaunch jetson_csi_cam jetson_csi_cam.launch
+```