diff --git a/README.md b/README.md
index 42b474f..e297591 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,35 @@
 # jetson_csi_cam
 A ROS package for easily connecting to CSI cameras from the Jetson TX1/TX2 via GStreamer.
 
+This package consists of a ROS launch file specifically configured for getting `gscam` to connect to the Nvidia
+multimedia library via gstreamer and to make it easy to set resolution, set framerate, and calibrate the camera.
+
+---
+
 # Setup
+In order to get the `jetson_csi_cam` package to publish the video stream from your CSI camera, you will need to download this 
+repository and install and build the `gscam` ROS package. Just follow the steps below and you should be good to go.
+
+As a note, this package was tested on a Nvidia Jetson TX2 with L4T R27.1, ROS Kinetic, and the 
+[Leopard Imaging IMX377CS](https://www.leopardimaging.com/LI-JETSON-KIT-IMX377CS-X.html) CSI camera.
+
+If you'd like to learn more about `gscam`, check out their [ROS wiki page](http://wiki.ros.org/gscam) or their 
+[Github repository](https://github.com/ros-drivers/gscam).
+
 ## 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`.
+This package is intended to run on ROS Kinetic but may work with older versions of ROS if the correct version of `gscam` is used
+and that version still supports gstreamer-1.0.
+
+## 1. Download jetson_csi_cam install
+Clone this repository into you `catkin_workspace`.
+
+```
+cd ~/catkin_ws/srs
+git clone https://github.com/peter-moran/jetson_csi_cam.git 
+```
+
+## 2. Install `gscam` with gstreamer-1.0 support
+Clone `gscam` into your `catkin_workspace`.
 
 ```
 cd ~/catkin_workspace/src
@@ -18,25 +42,20 @@ 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.
+is good practice to include.
 
-### 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
+## 3. Build everything
 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:
+
+# Publishing and viewing the camera stream
+To publish the camera stream in ROS, use:
+
 ```
 roslaunch jetson_csi_cam jetson_csi_cam.launch
 ```