Update README.md

README.md

@@ -39,7 +39,7 @@ This package lets you use the ZED stereo cameras with ROS 2. It provides access
 
 The **zed_ros2_wrapper** is a [colcon](http://design.ros2.org/articles/build_tool.html) package. 
 
-> **Note:** If you haven’t set up your colcon workspace yet, please follow this short [tutorial](https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/). 
+> :pushpin: **Note:** If you haven’t set up your colcon workspace yet, please follow this short [tutorial](https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/). 
 
 To install the **zed_ros2_wrapper**, open a bash terminal, clone the package from Github, and build it:
 
@@ -56,11 +56,11 @@ echo source $(pwd)/install/local_setup.bash >> ~/.bashrc # automatically source
 source ~/.bashrc
 ```
 
-> **Note:** If `rosdep` is missing you can install it with:
+> :pushpin: **Note:** If `rosdep` is missing you can install it with:
 > 
 >   `sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstool python3-rosinstall build-essential`
 
-> **Note:** When using the ZED ROS 2 Wrapper on an NVIDIA Jetson with JP6 GA, it is possible that you get the following error when building the package for the first time
+> :pushpin: **Note:** When using the ZED ROS 2 Wrapper on an NVIDIA Jetson with JP6, it is possible that you get the following error when building the package for the first time
 >
 > ```CMake Error at /usr/share/cmake-3.22/Modules/FindCUDA.cmake:859 (message):
 >   Specify CUDA_TOOLKIT_ROOT_DIR
@@ -73,12 +73,14 @@ source ~/.bashrc
 > 
 > `sudo apt install nvidia-cuda-dev`
 
-> **Note:** The option `--symlink-install` is very important, it allows to use symlinks instead of copying files to the ROS 2 folders during the installation, where possible. Each package in ROS 2 must be installed and all the files used by the nodes must be copied into the installation folders. Using symlinks allows you to modify them in your workspace, reflecting the modification during the next executions without needing to issue a new `colcon build` command. This is true only for all the files that don't need to be compiled (Python scripts, configurations, etc.).
+> :pushpin: **Note:** The option `--symlink-install` is very important, it allows to use symlinks instead of copying files to the ROS 2 folders during the installation, where possible. Each package in ROS 2 must be installed and all the files used by the nodes must be copied into the installation folders. Using symlinks allows you to modify them in your workspace, reflecting the modification during the next executions without needing to issue a new `colcon build` command. This is true only for all the files that don't need to be compiled (Python scripts, configurations, etc.).
 
-> **Note:** If you are using a different console interface like zsh, you have to change the `source` command as follows: `echo source $(pwd)/install/local_setup.zsh >> ~/.zshrc` and `source ~/.zshrc`.
+> :pushpin: **Note:** If you are using a different console interface like zsh, you have to change the `source` command as follows: `echo source $(pwd)/install/local_setup.zsh >> ~/.zshrc` and `source ~/.zshrc`.
 
 ## Starting the ZED node
 
+> :pushpin: **Note:** we recommend reading [this ROS 2 tuning guide](https://www.stereolabs.com/docs/ros2/150_dds_and_network_tuning) to improve the ROS 2 experience with ZED.
+
 To start the ZED node, open a bash terminal and use the [CLI](https://index.ros.org/doc/ros2/Tutorials/Introspection-with-command-line-tools/) command `ros2 launch`:
 
 ```bash
@@ -90,7 +92,7 @@ Replace `<camera_model>` with the model of the camera that you are using: `'zed'
 The `zed_camera.launch.py` is Python launch scripts that automatically start the ZED node using ["manual composition"](https://index.ros.org/doc/ros2/Tutorials/Composition/). The parameters for the indicated camera model are loaded from the relative "YAML files".
 A Robot State Publisher node is started to publish the camera static links and joints loaded from the URDF model associated with the camera model.
 
-> **Note:** You can set your own configurations by modifying the parameters in the files **common.yaml**, **zed.yaml** **zedm.yaml**, **zed2.yaml**, **zed2i.yaml**, **zedx.yaml**, and **zedxm.yaml** available in the folder `zed_wrapper/config`.
+> :pushpin: **Note:** You can set your own configurations by modifying the parameters in the files **common.yaml**, **zed.yaml** **zedm.yaml**, **zed2.yaml**, **zed2i.yaml**, **zedx.yaml**, and **zedxm.yaml** available in the folder `zed_wrapper/config`.
 
 You can get the list of all the available launch parameters by using the `-s` launch option: