diff --git a/README.md b/README.md
index 97a4f30..715b2ae 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,54 @@
-# ROS
+# ROS Computer Vision System
 
-Asset folder holds all image sources
+Developed by UBC AgroBot Systems Architecture Team
 
--> video setting should be named video.mp4 
-images can be named w/e but must end with .jpg or .png
+## Background Information
 
-maize model dimensions: 1024x448 (448 is width?)
\ No newline at end of file
+This repository contains a ROS2-based computer vision system for agricultural robotics. The system processes visual data to enable autonomous navigation and crop identification for the AgroBot. It includes both hardware integration components and software algorithms for real-time image processing and decision-making.
+
+## Overview
+![Node Diagram](assets/node_diagram.svg)
+
+The system consists of four main components:
+1. **Camera Input Processing Unit**: Captures data from the Zed Camera for inference.
+2. **Inference Unit**: This is the main processing hub, running the core ROS nodes and computer vision algorithms.
+3. **Inference Result Handler**: Manages inference data, performs preprocessing, and handles object tracking.
+4. **Signal Combining**: Combines signals from both the left and right cameras to send to the designated module.
+
+On the Jetson, the ROS `proxy_node` sends commands to the Arduino for physical actuation.
+
+## Quickstart
+
+To quickly start the system, use a ROS launch file to launch the entire stack.
+
+First, ensure you have a ROS2 environment. Open the command palette in VS Code and select `Dev Containers: Rebuild and Reopen in Container`.
+
+Our project is built and run inside the `ros2_ws` directory. Navigate to it by running:
+```
+cd ros2_ws
+```
+
+To build and run the stack, execute the following shell script:
+```
+./launch.sh
+```
+
+Congratulations 🎉! The entire stack is now running locally on your computer.
+
+## Other Available Utilities
+
+### Assets
+
+The `assets` folder contains all image and video sources for testing:
+- Video files should be named `video.mp4`.
+- Images can have any name but must end with `.jpg` or `.png`.
+
+Maize model dimensions: 1024x448 (448 is the width).
+
+### `action_scripts`
+
+The `scripts` folder contains various action scripts used in the project.
+
+### `python_wip`
+
+This folder contains experimental Python code related to computer vision that is still under development and may be pushed in the future.
\ No newline at end of file
diff --git a/assets/node_diagram.drawio b/assets/node_diagram.drawio
new file mode 100644
index 0000000..1f3a556
--- /dev/null
+++ b/assets/node_diagram.drawio
@@ -0,0 +1,180 @@
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color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><b>std_msgs/Float32MultiArray</b> bounding_boxes </div></div></div></foreignObject><text x="276" y="566" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px">std_msgs/Float32MultiArray bounding_boxes </text></switch></g></g></g><g data-cell-id="-R6cq3LP6N298Q4OorzW-69"><g><rect x="270" y="577" width="275" height="30" fill="none" stroke="none" pointer-events="all"/></g><g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 273px; 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align-items: unsafe center; justify-content: unsafe flex-start; width: 265px; height: 1px; padding-top: 622px; margin-left: 276px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; max-height: 26px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><b>sensor_msgs/Image </b>raw_image</div></div></div></foreignObject><text x="276" y="626" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px">sensor_msgs/Image raw_image</text></switch></g></g></g><g data-cell-id="-R6cq3LP6N298Q4OorzW-71"><g><rect x="270" y="637" width="275" height="30" fill="none" stroke="none" pointer-events="all"/></g><g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 273px; height: 1px; padding-top: 644px; margin-left: 272px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "> <b>sensor_msgs/Image </b>preprocessed_image</div></div></div></foreignObject><text x="272" y="656" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px"> sensor_msgs/Image preprocessed_image</text></switch></g></g></g></g><g data-cell-id="-R6cq3LP6N298Q4OorzW-67"><g><path d="M 720 547 L 720 517 L 1000 517 L 1000 547" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/><path d="M 720 547 L 720 577 L 1000 577 L 1000 547" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/><path d="M 720 547 L 1000 547" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 278px; height: 1px; padding-top: 532px; margin-left: 721px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">/extermination_out topic</div></div></div></foreignObject><text x="860" y="536" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">/extermination_out topic</text></switch></g></g><g data-cell-id="-R6cq3LP6N298Q4OorzW-68"><g><rect x="720" y="547" width="280" height="30" fill="none" stroke="none" pointer-events="all"/></g><g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 270px; height: 1px; padding-top: 562px; margin-left: 726px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; max-height: 26px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><b>std_msgs/Float32MultiArray </b>bounding_boxes </div></div></div></foreignObject><text x="726" y="566" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px">std_msgs/Float32MultiArray bounding_boxes </text></switch></g></g></g></g><g data-cell-id="-R6cq3LP6N298Q4OorzW-75"><g><path d="M 560 547 L 560 517 L 690 517 L 690 547" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/><path d="M 560 547 L 560 577 L 690 577 L 690 547" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/><path d="M 560 547 L 690 547" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 128px; height: 1px; padding-top: 532px; margin-left: 561px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">/right_get_row_count service</div></div></div></foreignObject><text x="625" y="536" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">/right_get_row_count s...</text></switch></g></g><g data-cell-id="-R6cq3LP6N298Q4OorzW-76"><g><rect x="560" y="547" width="130" height="30" fill="none" stroke="none" pointer-events="all"/></g><g><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 120px; height: 1px; padding-top: 562px; margin-left: 566px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; max-height: 26px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><div>---</div><div><b>int16 </b>plant_count</div></div></div></div></foreignObject><text x="566" y="566" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px">---...</text></switch></g></g></g></g></g></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.drawio.com/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>
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diff --git a/ros2_ws/launch.sh b/ros2_ws/launch.sh
new file mode 100644
index 0000000..a0c29e6
--- /dev/null
+++ b/ros2_ws/launch.sh
@@ -0,0 +1,3 @@
+colcon build --symlink-install --packages-select 
+source install/setup.bash
+ros2 launch python_package/launch/launch.py use_display_node:=False
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