diff --git a/README.md b/README.md
new file mode 100644
index 0000000..215b425
--- /dev/null
+++ b/README.md
@@ -0,0 +1,43 @@
+# Cartographer Project Overview
+
+See https://github.com/googlecartographer/cartographer
+
+## Installation
+
+On Ubuntu 14.04 (Trusty) with ROS Indigo installed:
+
+ # Install the required libraries that are available as debs
+ sudo apt-get install \
+ ros-indigo-tf2-eigen \
+ g++ \
+ google-mock \
+ libboost-all-dev \
+ liblua5.2-dev \
+ libprotobuf-dev \
+ libwebp-dev \
+ protobuf-compiler \
+ python-sphinx \
+ libblas-dev \
+ liblapack-dev \
+ libpcap-dev # For 3D SLAM with Velodynes
+
+ # Set up your Catkin workspace
+ mkdir -p ~/catkin_ws/src
+ cd ~/catkin_ws/src
+ source /opt/ros/indigo/setup.bash
+ catkin_init_workspace
+
+ # Clone the necessary repos into your Catkin workspace
+ git clone https://github.com/googlecartographer/cartographer.git
+ git clone https://github.com/googlecartographer/cartographer_ros.git
+ git clone https://github.com/ethz-asl/ceres_catkin.git
+ git clone https://github.com/ethz-asl/suitesparse.git
+ git clone https://github.com/ethz-asl/glog_catkin.git
+ git clone https://github.com/ethz-asl/gflags_catkin.git
+ git clone https://github.com/ethz-asl/catkin_simple.git
+ git clone https://github.com/ros-drivers/velodyne.git # For 3D SLAM with Velodynes
+
+ # Build everything in your Catkin workspace
+ cd ~/catkin_ws
+ catkin_make_isolated
+ source devel_isolated/setup.bash
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index b7fce9c..a935e7a 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -24,6 +24,7 @@
catkin
+ cartographer
eigen_conversions
geometry_msgs
cartographer_ros_msgs