diff --git a/README.md b/README.md
index b27e079..ae5f040 100644
--- a/README.md
+++ b/README.md
@@ -10,8 +10,8 @@ Azure Kinect ROS drivers
     ```
     sudo apt install liblua5.1-0-dev libgflags-dev libgoogle-glog-dev libgoogle-perftools-dev cimg-dev
     ```
-1. [ROS](https://wiki.ros.org/Installation/)
-1. [Microsoft Kinect For Azure SDK](https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download)  
+2. [ROS](https://wiki.ros.org/Installation/), [AMRL ROS Messages](https://github.com/ut-amrl/amrl_msgs)
+3. [Microsoft Kinect For Azure SDK](https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download)  
     If installing on \*buntu 18.04, you can follow the instructions as is.  
     If installing on \*buntu 20.04, you will need to manually add the repo for 18.04 instead as follows in `/etc/apt/sources.list`:
     ```
@@ -25,13 +25,20 @@ Azure Kinect ROS drivers
     ```
     sudo apt install libk4a1.4-dev k4a-tools
     ```
-1. Add the file [99-k4a.rules](99-k4a.rules) to `/etc/udev/rules.d` to allow access to the kinect device, and reboot to apply the changes.
+4. Add the file [99-k4a.rules](99-k4a.rules) to `/etc/udev/rules.d` to allow access to the kinect device, and reboot to apply the changes.
+5. Be sure to pull in changes for the git submodules before making. If it's your first time pulling changes in this repo run `git submodule update --init --recursive` first. After doing this, run `git submodule update --recursive --remote`.
+6. (Optional) To use microphone array, install the [audio_common](https://wiki.ros.org/audio_common/Tutorials/Streaming%20audio) ros package according to the tutorial. At this point, you can go to audio system settings and verify the Azure Kinect microphone is connected.
 
 ## Compile
+1. Add it to your `ROS_PACKAGE_PATH` environment variable:
+    ```
+    export ROS_PACKAGE_PATH=`pwd`:$ROS_PACKAGE_PATH
+    ```
 
-Run `make [-j]`
+2. Run `make [-j]`
 
 ## Usage
+The streamed topics will be available on the Fixed Frame `kinect` on rviz by default.
 
 To stream just converted laserscan data :
 ```
@@ -40,7 +47,7 @@ To stream just converted laserscan data :
 
 To stream converted laserscan data and a 3D point cloud:
 ```
-./bin/depth_to_lidar
+./bin/depth_to_lidar --points=true
 ```
 
 To stream an RGB point cloud as `sensor_msgs/PointCloud2`:
@@ -53,6 +60,9 @@ To save registered color and RGB images to disk (e.g. to the directory `out`):
 ./bin/save_rgbd_images --save_dir out
 ```
 
+## libusb errors
+If you encounter an issue with the libusb driver, it may be due to the data bus limit on the usb port not being set to a high enough value. If this is the case, open the grub file (/etc/default/grub) and replace the line `GRUB_CMDLINE_LINUX_DEFAULT=quiet splash` with `GRUB_CMDLINE_LINUX_DEFAULT=quiet splash usbcore.usbfs_memory_mb=2000`. Then, run `sudo update-grub` and reboot the system after updating grub.
+
 ## XServer errors
 
 This package needs access to an OpenGL display for the k4a drivers. If running in a headless mode, you might have to recreate the `~/.Xauthority` file to gain access to the server, in addition to setting the `DISPLAY` environment variable (e.g. `export DISPLAY=:0`). To re-create the `~/.Xauthority` file, see: