diff --git a/README.md b/README.md
index 19de2c8..db63b3e 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,23 @@
-# Overview
+# wibotic_ros
 
-WiBotic ROS CAN Connector is a set of ROS packages that supports interacting with a WiBotic Onboard Charger over a CAN bus.
+The repository contains `wibotic_connector_can` and `wibotic_msgs` packages. It reads a CAN Bus thanks to the uavcan library and sends the measurements to ROS 2.
 
-The master branch of this repository remains synchronized with the latest WiBotic firmware release. Running firmware that matches with the equivalent WiBotic ROS CAN Connector version is strongly recommended. See the firmware update page on the WiBotic system GUI for more information about updating firmware.
+## ROS Nodes
+
+### wibotic_connector_can
+
+It reads a CAN Bus thanks to the uavcan library and sends the measurements to ROS 2.
+
+#### Publishes
+
+- `wibotic_info` [*wibotic_msgs/WiboticInfo*]: Wibotic charger measurements.
+
+#### Parameters
+
+- `~can_iface_name` [*string*, default: **can0**]: CAN BUS interface used for Wibotic receiver.
+- `uavcan_node_id_` [*int*, default: **20**]: Uavcan node ID.
+- `uavcan_node_name_` [*string*, default: **can0**]: Uavcan node name.
+- `update_time_s_` [*string*, default: **can0**]: The period of reading WiboticInfo on a CAN BUS.
 
 ## Add can interface
 
diff --git a/wibotic_connector_can/launch/wibotic_connector_can.launch b/wibotic_connector_can/launch/wibotic_connector_can.launch
deleted file mode 100644
index d960b7d..0000000
--- a/wibotic_connector_can/launch/wibotic_connector_can.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-  <node name="wibotic_connector_can" pkg="wibotic_connector_can" type="wiboticros.py" output="screen">
-    <param name="can_interface" value="can0" type="str" />
-    <param name="uavcan_node_id" value="18" type="int" />
-  </node>
-</launch>
diff --git a/wibotic_connector_can/test/unit/test_wibotic_can_driver_node.cpp b/wibotic_connector_can/test/unit/test_wibotic_can_driver_node.cpp
index 0fb1cfe..550b64b 100644
--- a/wibotic_connector_can/test/unit/test_wibotic_can_driver_node.cpp
+++ b/wibotic_connector_can/test/unit/test_wibotic_can_driver_node.cpp
@@ -44,7 +44,7 @@ class MockWiboticCanDriver : public wibotic_connector_can::WiboticCanDriverInter
   MOCK_METHOD(wibotic::WiBoticInfo, GetWiboticInfo, (), (override));
 
   // Nice mock suppresses warnings about uninteresting calls
-  // using NiceMock = testing::NiceMock<MockWiboticCanDriver>;
+  using NiceMock = testing::NiceMock<MockWiboticCanDriver>;
 };
 
 class WiboticCanDriverNodeWrapper : public wibotic_connector_can::WiboticCanDriverNode