From 201af1edd0da028751bb2db39c1f20820fd6cd59 Mon Sep 17 00:00:00 2001
From: Martin Dahl <martin.dahl@gmail.com>
Date: Tue, 8 Oct 2019 19:49:42 +0200
Subject: [PATCH] Updated readme

---
 README.md | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index 6661e54..a57468b 100644
--- a/README.md
+++ b/README.md
@@ -1,13 +1,14 @@
 R2R - Minimal ROS2 Rust bindings
-=============
+====================
 
-Minimal bindings for ROS2 that does *not* require hooking in to the ROS2 build infrastructure. If you want a more ROS-oriented approach, see <https://github.com/ros2-rust/ros2_rust>. In these bindings, convenience Rust types are created by calling into the c introspection libraries to circumvent the .msg/.idl pipeline. The convenience types can be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually.
+Minimal bindings for ROS2 that do *not* require hooking in to the ROS2 build infrastructure. If you want a more ROS-oriented approach, see <https://github.com/ros2-rust/ros2_rust>. In these bindings, convenience Rust types are created by calling into the c introspection libraries to circumvent the .msg/.idl pipeline. The convenience types can be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually.
 
 How to use
-------------
+--------------------
 1. Depend on this package: r2r = { git = "https://github.com/sequenceplanner/r2r" }.
 2. You need to source your ROS2 installation before building/running.
-3. The bindings will rebuild automatically if/when you source your workspaces.
+3. The bindings will rebuild automatically if/when you source your workspace(s).
+4. If you make changes to existing message types, run cargo clean -p msg_gen to force recompilation of the rust message types on the next build.
 
 A couple of examples are included in examples/
 ```
@@ -18,15 +19,13 @@ cargo run --example subscriber_with_thread
 
 
 What works?
---------
+--------------------
 - Up to date with ROS2 Dashing
 - Building Rust types
 - Publish/subscribe
 
 TODO
-------------
+--------------------
 - The code generation is currently just a big hack. Needs cleanup and refactoring.
-- Implement error handling. Now all methods just return Err(()).
-- Expose more of the RCL.
-- Services and action types are currently ignored.
-- QoS settings etc.
+- Expose more of the RCL like QoS settings.
+- Services and action types...