diff --git a/README.md b/README.md
index 22815560a1bc4261f17d18a6fff2def045fcbe78..4fc83345fc9615cf724474da710b59fabacd8b94 100644
--- a/README.md
+++ b/README.md
@@ -2,4 +2,35 @@
 
 ## Exemple e-puck2 with a camera of 640x480
 
-image 
+install ROS2  ( at the moment the latest is Jazzy vesion https://docs.ros.org/en/jazzy/index.html )
+install all the package needed.
+
+launch webots with world/e-puck2.wbt
+
+With `ros2 topic list` you can see the topics available:
+
+    /camera/image_raw #image from the camera
+    /cmd_vel #Speed command of the robot
+    /distance_sensors #array of floats distances from the sensors
+    /odom #Position of the robot as the integration of the wheel's movements
+    /parameter_events
+    /rosout
+
+You can see and modify these values with rqt ot through your one program.
+
+# With ros2 on OSX
+
+Install ros2 with robostack https://robostack.github.io/GettingStarted.html ( probably replace humble by jazzy to have the latest version )
+
+Install the needed packages like rclpy :  `conda install -c ros-forge ros-humble-rclpy`
+
+    conda install -c ros-forge ros-humble-sensor-msgs ros-humble-cv-bridge ros-humble-nav-msgs opencv ros-humble-cv-bridge
+	...
+
+Launch Webot **in your conda environment with ros2 activated** i.e.:
+
+    conda activate ros2
+	/Applications/Webots.app/Contents/MacOS/webots
+
+Open the world file `world/e-puck2.wbt` and run the simulation see above.
+
diff --git a/worlds/.e-puck2.wbproj b/worlds/.e-puck2.wbproj
index f86982ad4b21ac255a7aabe9f7893aeff2b55631..93de8024d80b213b6822a7949b4eed25af00bdfd 100644
--- a/worlds/.e-puck2.wbproj
+++ b/worlds/.e-puck2.wbproj
@@ -1,10 +1,10 @@
 Webots Project File version R2023b
-perspectives: 000000ff00000000fd0000000300000000000001c1000003e8fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000001c10000000000000000000000010000032f000004befc0200000001fb0000001400540065007800740045006400690074006f00720100000017000004be0000008800ffffff00000003000009bd000000d7fc0100000003fb0000000e0043006f006e0073006f006c006501000001c7000005ba0000000000000000fb0000001a0052006f0062006f0074003a00200065002d007000750063006b01000004e70000021a0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000009bd0000006900ffffff0000068c000004be00000004000000040000000100000008fc00000000
+perspectives: 000000ff00000000fd0000000300000000000001c1000003e8fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000001c10000000000000000000000010000032f0000025bfc0200000001fb0000001400540065007800740045006400690074006f007201000000000000025b0000008a00ffffff0000000300000708000001d1fc0100000003fb0000000e0043006f006e0073006f006c006501000001c7000005ba0000000000000000fb0000001a0052006f0062006f0074003a00200065002d007000750063006b01000004e70000021a0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007080000008700ffffff000003d70000025b00000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000029e000001d40100000002010000000101
-sceneTreePerspectives: 000000ff00000001000000030000001d000002af000000fa0100000002010000000201
+sceneTreePerspectives: 000000ff00000001000000030000001e000002af000000fa0100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
 textFiles: 0 "controllers/epuck_ros2_controller/epuck_ros2_controller.py"
 consoles: Console:All:All
-renderingDevicePerspectives: e-puck2:camera;1;0.725;0;0.00173306
+renderingDevicePerspectives: e-puck2:camera;1;0.482812;0;0.00173306