Finishing up the README

README.md

@@ -5,18 +5,23 @@ SPDX-License-Identifier: Apache-2.0
 -->
 
 # ros2_socketcan_bridge
-The packages provides functionality to expose CAN frames from SocketCAN to a ROS Topic.
+
+This package provides functionality to expose CAN frames from SocketCAN to ROS2 topics.
 
 ## Overview
-Differences between this package and `ros2_socketcan`
+
+This is a from-scratch re-implementation of [socketcan_bridge] from ROS1.
+There is a different ROS2 package [ros2_socketcan] which is similar to this package.
+The differences between this package and [ros2_socketcan] are:
 
 - No loopback, i.e. CAN frames that are send are not received by the same node
 - No lifecycle management, just run it
 - Less CPU usage
 
 ## Nodes
+
 The main node (`socketcan_bridge`) is also available as dynamically loadable component.
-The node `socketcan_bridge_ee` is also provided that uses the `EventsExecutor` that run a bit more efficient.
+The node `socketcan_bridge_ee` is also provided that uses the `EventsExecutor` that runs a bit more efficient.
 
 ### socketcan_bridge
 
@@ -26,15 +31,19 @@ The node `socketcan_bridge_ee` is also provided that uses the `EventsExecutor` t
   Messages received here will be sent to the SocketCAN device.
 
 #### Published Topics
+
 * `~/rx` ([can_msgs/Frame])
-  Frames received on the SocketCAN device are published in this topic.
+  Frames received on the SocketCAN device are published on this topic.
 
 #### Parameters
 
 * `interface`
   Name of the SocketCAN device, by default these devices are named can0 and upwards.
-
 * `read_timeout`
   Maximum duration to wait for data on the file descriptor
 
 [can_msgs/Frame]: https://github.com/ros-industrial/ros_canopen/blob/dashing-devel/can_msgs/msg/Frame.msg
+
+[socketcan_bridge]: https://wiki.ros.org/socketcan_bridge
+
+[ros2_socketcan]: https://github.com/autowarefoundation/ros2_socketcan