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README.md

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 eposx_hardware
 ============
+# eposx_hardware is ...
+* ROS interface for Maxon EPOS motor drivers
+* forked from [RIVeR-Lab/epos_hardware](https://github.com/RIVeR-Lab/epos_hardware), with a lot of enhancements and refactors
+* difference from the original package
+  * supports all EPOS drivers (EPOS/EPOS2/EPOS4)
+  * supports all phisycal interface to EPOS (USB/RS232/CANOpen)
+  * supports online switching of EPOS control modes
+  * supports reading status of EPOS's power supply
+  * supports joint limit interface
+  * uses the latest offical command library from Maxon in backend (as of Jun. 2018)
+  * refactored codes including an useful C++ wrapper of backend C library
+
+# Node: epos_hardware_node
+will be described soon
+
+# Commandline tool: list_nodes
+will be described soon
+
+# Commandline tool: get_state
+will be described soon
+
+# Examples
+* see [eposx_hardware/launch](eposx_hardware/launch)