diff --git a/.gitignore b/.gitignore
index e6e0889..1987246 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,8 +1,6 @@
-/.vscode
-/.log
-*.pcd
-/build
 /.clangd
+/.vscode
+/build
+.clang-format
 compile_commands.json
-.clang-tidy
-.clang-format
\ No newline at end of file
+*.pcd
\ No newline at end of file
diff --git a/README.md b/README.md
index e69de29..e814925 100644
--- a/README.md
+++ b/README.md
@@ -0,0 +1,17 @@
+# Oh-My-LOAM
+
+Oh-My-LOAM is a ROS-free implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time). This implementation is modified from [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM). 
+
+Comparing with A-LOAM, this implementation has following features:
+
+- it's more readable and easier to understand/modify
+
+# Dependences
+
+- Eigen: linear algebra, quaternion
+- pcl: point cloud processing
+- g3log: logging
+- yaml-cpp: yaml parsing
+- ceres: non-linear optimization
+- c++17
+
diff --git a/ggg.txt b/ggg.txt
deleted file mode 100644
index 3ecd0d1..0000000
--- a/ggg.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-scan line number 16 
-line resolution 0.200000 plane resolution 0.400000 
-Mapping 10 Hz 
-... logging to /home/liufei/.ros/log/8dd723e0-69e0-11eb-931b-4cedfbbfbb36/roslaunch-liufei-fabu-4816.log
-Checking log directory for disk usage. This may take awhile.
-Press Ctrl-C to interrupt
-Done checking log file disk usage. Usage is <1GB.
-]2;/home/liufei/catkin_ws/src/A-LOAM/launch/aloam_velodyne_VLP_16.launch
-started roslaunch server http://liufei-fabu:38301/
-
-SUMMARY
-========
-
-PARAMETERS
- * /mapping_line_resolution: 0.2
- * /mapping_plane_resolution: 0.4
- * /mapping_skip_frame: 1
- * /minimum_range: 0.3
- * /rosdistro: kinetic
- * /rosversion: 1.12.16
- * /scan_line: 16
-
-NODES
-  /
-    alaserMapping (aloam_velodyne/alaserMapping)
-    alaserOdometry (aloam_velodyne/alaserOdometry)
-    ascanRegistration (aloam_velodyne/ascanRegistration)
-    rviz (rviz/rviz)
-
-ROS_MASTER_URI=http://localhost:11311
-]2;/home/liufei/catkin_ws/src/A-LOAM/launch/aloam_velodyne_VLP_16.launch http://localhost:11311
-process[ascanRegistration-1]: started with pid [4854]
-process[alaserOdometry-2]: started with pid [4855]
-process[alaserMapping-3]: started with pid [4856]
-process[rviz-4]: started with pid [4857]
-[rviz-4] killing on exit
-[alaserMapping-3] killing on exit
-[alaserOdometry-2] killing on exit
-[ascanRegistration-1] killing on exit
-shutting down processing monitor...
-... shutting down processing monitor complete
-done