diff --git a/README.md b/README.md
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+# UR_RTDE_Driver
+This repository contains the new **ur_rtde_driver** and a couple of helper packages, such as:
+
+  * **controller_stopper**: A small external tool that stops and restarts ros-controllers based on
+    the robot's state. This can be helpful, when the robot is in a state, where it won't accept
+    commands sent from ROS.
+  * **ur_calibration**: Package around extracting and converting a robot's factory calibration
+    information to make it usable by the robot_description.
+  * **ur_controllers**: Controllers introduced with this driver, such as speed-scaling-aware
+    controllers.
+  * **ur_rtde_driver**: The actual driver package.
+
+Please see the individual packages for further information. Especially the [README of the
+ur_rtde_driver](ur_rtde_driver/README.md) serves as an entry point to get everything running.
diff --git a/ur_rtde_driver/README.md b/ur_rtde_driver/README.md
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 # ur_rtde_driver 
 
 This driver is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver).
+
+It works for all CB3 and eSeries robots and uses the RTDE interface for communication, whenever possible.
+
+## Features
+ * **Factory calibration** of the robot inside ROS to reach Cartesian
+   targets precisely.
+ * **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (TODO: Write tutorial on how to compile a realtime kernel for Ubuntu)
+ * Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running
+   on the robot that handles control commands sent from ROS side. With this, the robot can be
+   **paused**, **stopped** and **resumed** without restarting the ROS driver.
+   This will in the future also enable, the usage of ROS-components as a part of a more complex UR-program
+   on the teach pendant. This is currently not yet supported, as we are still missing to exit
+   control from ROS side. Expect this to come in future releases.
+ * Use the robot's **speed-scaling**. When speed scaling is active due to safety constraints or the
+   speed slider is used, this gets correctly handled on the ROS side, as well slowing down
+   trajectory execution accordingly. **Note**: Due to the speed scaling interface, other controllers
+   than the scaled controllers provided, currently cannot be used. We plan to change this in
+   upcoming releases.
+
+## Building
+
+```bash
+# source global ros
+$ source /opt/ros/<your_ros_version>/setup.bash
+# create a catkin workspace
+$ mkdir -p catkin_ws/src && cd catkin_ws
+$ catkin_make
+$ cd src
+# clone the driver
+$ git clone <this_repository_url>
+# clone fork of the description to use the calibration feature
+$ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git
+# install dependencies
+$ rosdep install --from-path . -y --ignore-src
+# build the driver
+$ cd ..
+$ catkin_make
+# source the workspace
+$ source devel/setup.bash
+```
+
+## Initial robot setup
+To setup a new robot with this driver, please see the [initial setup tutorial](doc/initial_setup.md)