diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
new file mode 100644
index 0000000..8d62ad9
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -0,0 +1,27 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. Windows.Linux]
+ - Unity Version [e.g.2020.1.6f1]
+
+**Additional context**
+Add any other context about the problem here.
diff --git a/README.md b/README.md
index 41a4b4d..69dba64 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,10 @@
 # ROSBridgeLib
 A Unity library for communication with ROS through [RosBridge](http://wiki.ros.org/rosbridge_suite)
-
+```console
+foo@bar:~$ sudo apt-get install ros-<rosdistro>-rosbridge-suite
+foo@bar:~$ source /opt/ros/<rosdistro>/setup.bash
+foo@bar:~$ roslaunch rosbridge_server rosbridge_websocket.launch
+```
 The first version of this I believe origins from [Michael Jenkin](https://github.com/michaeljenkin), in the repo [unityros](https://github.com/michaeljenkin/unityros). He made a sample unity project showing turtlesim, with good instructions on how to use this project. All honor goes to him. I created this project because there was no repository containing the barebone library.
 
 ## Included messages
@@ -10,6 +14,12 @@ This repository does not contain every ROS message. If you need to add one, plea
 Documentation is in the code. I added some more in addition to what Michael Jenkin (original
 author) did. The main file is ROSBridgeWebSocketConnection.cs, which sets up everything.
 
+## Installation
+Clone this repository in to the Assets folder of an Unity project:
+```console
+foo@bar:~$  git clone --recurse-submodules https://github.com/MathiasCiarlo/ROSBridgeLib.git
+```
+
 ## Example usage
 This is an example application where a ball is controlled. Basically, there are three important script types to notice. 
 
@@ -49,7 +59,6 @@ public class ROSInitializer : MonoBehaviour
     ros.Render ();
   }
 }
-
 ```
 ### **Subscriber**
 Then, create a subscriber script, **BallPoseSubscriber.cs**, which will receive updates from a chosen ROS topic
@@ -63,7 +72,7 @@ using SimpleJSON;
 using ROSBridgeLib.geometry_msgs;
 
 
-public class BallPoseSubscriber : MonoBehaviour
+public class BallPoseSubscriber : ROSBridgeSubscriber
 {
   static GameObject ball;
   
@@ -85,15 +94,16 @@ public class BallPoseSubscriber : MonoBehaviour
   }
 
   // This function should fire on each received ros message
-  public new static void CallBack(PoseMsg msg) {
+  public new static void CallBack(ROSBridgeMsg msg) {
     
     Debug.Log("Recieved Message : "+msg.ToYAMLString());
     // Update ball position, or whatever
+    PoseMsg PoseData=(PoseMsg)msg;
     ball=GameObject.Find("ball");
     Vector3 ballPos=ball.transform.position;
-    ballPos.x = msg.GetPosition().GetX();
-    ballPos.y = msg.GetPosition().GetY();
-    ballPos.z = msg.GetPosition().GetZ();
+    ballPos.x = PoseData.GetPosition().GetX();
+    ballPos.y = PoseData.GetPosition().GetY();
+    ballPos.z = PoseData.GetPosition().GetZ();
     //Changing ball's position to the updated position vector
     ball.transform.position=ballPos;
   }
@@ -110,9 +120,10 @@ using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 using SimpleJSON;
+using ROSBridgeLib;
 using ROSBridgeLib.geometry_msgs;
 
-public class BallTwistPublisher : MonoBehaviour
+public class BallTwistPublisher : ROSBridgePublisher
 {
     // The following three functions are important
   public static string GetMessageTopic() {
@@ -133,7 +144,7 @@ public class BallTwistPublisher : MonoBehaviour
   }    
 }
 ```
-Above script defines the publisher. In order to call this publisher attach one script,  **DataManager.cs**, to the gameobject ball.
+Above script defines the publisher. In order to call this publisher attach one script,  **DataController.cs**, to the gameobject ball.
 ```cs
 using System.Collections;
 using System.Collections.Generic;
@@ -142,7 +153,7 @@ using UnityEngine;
 using ROSBridgeLib;
 using ROSBridgeLib.geometry_msgs;
 
-public class DataManager : MonoBehaviour
+public class DataController : MonoBehaviour
 {
     Rigidbody rb;
     GameObject rosObj;
@@ -174,7 +185,7 @@ public class DataManager : MonoBehaviour
             rb.angularVelocity.z
         );
         msg=new TwistMsg(linearVel,angularVel);
-        rosobj.GetComponent<ROSInitialize>().ros.Publish(
+        rosObj.GetComponent<ROSInitializer>().ros.Publish(
             BallTwistPublisher.GetMessageTopic(),msg
         );
     }