Readme update

README.md

-## Install ROS
+*TorcsClient* is a C++ application that connects to Torcs and receives images via shared memory (FreeImage library is used to read and store images).
 
-### Versions
+*EMAM2RosCpp* <https://github.com/EmbeddedMontiArc/EMAM2RosCpp> and *EMAM2RosMsg* <https://github.com/EmbeddedMontiArc/EMAM2RosMsg> are used to generate ROS code from EmbeddedMontiArc.
 
-Ubuntu 16.04
-ROS lunar
-Install libarmadillo-dev package
-sudo ln -s /usr/include/armadillo /usr/include/armadillo.h
 
-Follow instructions on http://wiki.ros.org/lunar/Installation/Ubuntu
+## Prerequisites
 
-Follow instructions to create package on http://wiki.ros.org/ROS/Tutorials/CreatingPackage
+* Ubuntu 16.04
+* ROS lunar
 
-We use RosWorkspace/ as the ROS workspace directory and RosWorkspace/src/torcs2 as the package directory example.
+## TorcsClient
 
-Generate sources via EMAMRosCpp
-Copy sources into created package src directory (RosWorkspace/src/torcs2/src)
+* Compile torcs:
+..* Install dependencies: `libopenal-dev libalut-dev libplib-dev libvorbis-dev`
+..* cd to torcs directory and run: `./configure && make`
+
+* Install `libfreeimage-dev`
+
+## ROS
+
+* libarmadillo-dev package
+`sudo ln -s /usr/include/armadillo /usr/include/armadillo.h`	
+
+* Follow ROS installation instructions on <http://wiki.ros.org/lunar/Installation/Ubuntu>
+
+* Follow instructions to create a package on <http://wiki.ros.org/ROS/Tutorials/CreatingPackage>
+
+We use `RosWorkspace/` as the ROS workspace directory and `RosWorkspace/src/torcs2` as the package directory example.
+
+* Generate sources via EMAMRosCpp
+* Copy sources into created package src directory (RosWorkspace/src/torcs2/src)
 
 Find string:
-# add_executable(${PROJECT_NAME}_node src/torcs2_node.cpp)
+`# add_executable(${PROJECT_NAME}_node src/torcs2_node.cpp)`
 in the RosWorkspace/src/torcs2/CMakeLists.txt file, uncomment and change to:
-add_executable(${PROJECT_NAME} src/torcs2.cpp)
+`add_executable(${PROJECT_NAME} src/torcs2.cpp)`
 
 Find and uncomment in the same file:
+```
 target_link_libraries(${PROJECT_NAME}_node
   ${catkin_LIBRARIES}
 )
+```
 
-and remove _node suffix to have:
+and remove _node suffix to get:
+```
 target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
 )
+```
 
-Run catkin_make and catkin_make install as described in tutorial.
-Check that package is now available:
-rospack list | grep torcs
+* Run `catkin_make` and `catkin_make install` as described in tutorial.
+Check that package is now available: `rospack list | grep torcs`
 
-Run node with the package:
-rosrun torcs torcs
+* Run node with the package: `rosrun torcs torcs`
 
-Have fun!