diff --git a/README.md b/README.md
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@@ -4,3 +4,66 @@
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 ROS implementation of local goal creator
+
+## Environment
+- Ubuntu 20.04
+- ROS Noetic
+
+## Install and Build
+```
+# clone repository
+cd /path/to/your/catkin_ws/src
+git clone https://github.com/ToshikiNakamura0412/local_goal_creator_ros.git
+
+# build
+cd /path/to/your/catkin_ws
+rosdep install -riy --from-paths src --rosdistro noetic        # Install dependencies
+catkin build local_goal_creator_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
+```
+
+## How to use
+```
+roslaunch local_goal_creator_ros local_goal_creator.launch
+```
+
+## Running the demo
+```
+# clone repository
+cd /path/to/your/catkin_ws/src
+git clone https://github.com/ToshikiNakamura0412/a_star_ros.git
+
+# build
+cd /path/to/your/catkin_ws
+rosdep install -riy --from-paths src --rosdistro noetic
+catkin build -DCMAKE_BUILD_TYPE=Release
+
+# run demo
+roslaunch local_goal_creator_ros test.launch
+```
+
+<p align="center">
+  <img src="https://github.com/ToshikiNakamura0412/amr_navigation_gifs/blob/master/images/local_goal_creator_demo.gif" height="320px"/>
+</p>
+
+## Node I/O
+![Node I/O](images/node_io.png)
+
+## Nodes
+### local_goal_creator
+#### Published Topics
+- ~\<name>/local_goal (`geometry_msgs/PoseStamped`)
+  - The local goal
+
+#### Subscribed Topics
+- /path (`nav_msgs/Path`)
+  - The path to goal
+- /robot_pose (`geometry_msgs/PoseWithCovarianceStamped`)
+  - The robot pose
+
+#### Parameters
+- ~\<name>/<b>hz</b> (int, default: `10` [Hz]):<br>
+  The rate of main loop
+- ~\<name>/<b>target_dist_to_goal</b> (double, default: `0.5` [m]):<br>
+  The distance from the robot to the goal
+- ~\<name>/<b>use_direction_in_path</b> (bool, default: `False`):<br>
+  Use the pose orientation included in the path
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