Some improvements in README.md

README.md

@@ -1,6 +1,18 @@
 # ouster_decoder
 
-This decoder is intended to replace the ouster_ros package from https://github.com/ouster-lidar/ouster_example
+This driver/decoder is intended to replace the `ouster_ros` package from
+https://github.com/ouster-lidar/ouster_example, providing a ROS1 driver for the
+Ouster lidars.
+
+The driver offers a set of
+features compared to the manufacturer example driver:
+
+ - Detection of missing data packages: by observing the package sequence number
+   we are able to detect lost packages from the sensor and notify the user.
+
+ - Included LiDAR configuration file: no more need for the metadata json file.
+
+The code has been tested in ROS Noetic, and has been tested with firmwares up to 2.1.
 
 ## Usage