diff --git a/README.md b/README.md
index 5ea110b..5a75cc7 100644
--- a/README.md
+++ b/README.md
@@ -1,83 +1,92 @@
-# rover-ros2
+# ASTRA Rover ROS2 Nodes
 
 [![License: AGPL v3](https://img.shields.io/badge/License-AGPL_v3-blue.svg)](https://www.gnu.org/licenses/agpl-3.0)
 
-Submodule which includes all ros2 packages for the rover. These are centrally located for modular rover operation.
+## About
 
-You will use this package to launch any module-side ROS2 nodes.
-<br>
+Includes all ROS2 packages for the rover. These are centrally located for modular rover operation.
 
-## Software Pre-reqs
+You will use this package to launch all module-side ROS2 nodes.
 
-An acting base station computer will need several things:
+# Table of Contents
 
-* ROS2 Humble
-    * Follow the standard ROS2 humble install process. Linux recommended.
-        * https://docs.ros.org/en/humble/Installation.html
-* Colcon
-    * `$ sudo apt update`
-    * `$ sudo apt install python3-colcon-common-extensions`
-* Configured Static IP for Ubiquiti bullet (Process varies by OS)
-    * IP Address: 192.168.1.x
-        * This can be just about anything not already in use. I recommend something 30-39
-    * Net Mask: 255.255.255.0
-    * Gateway: 192.168.1.0
+1. Title
+3. Table of Contents
+3. Software Requirements
+    1. ROS2 Humble
+    2. IP Configuration
+4. Hardware Requirements
+5. Recommended Programs
+6. How to Use
+7. Common Problems/Troubleshooting
+8. Major To-Do Items
+9. Author(s) 
+10. Maintainer(s)
 
-## Launching with ANCHOR
+# Software Requirements 
 
-ANCHOR (Active Node Controller Hub and Operational Relay)
-Allows for launching all nodes on the rover simulataneously. Additionally, all controls will run through the core's NUC and MCU.
-<br>
-1. SSH to core
-    * Core1: `ssh clucky@192.168.1.69`
-    * Core2: `ssh clucky@192.168.1.70`
-    * Password: \<can be found in the rover-Docs repo under documentation>
-2. Navigate to rover-ros2 workspace
-    * `cd rover-ros2`
-3. Source the workspace
-    * `source install/setup.bash`
-4. Launch ANCHOR
-    * `ros2 launch rover_launch.py mode:=anchor`
+Since July/August of 2025, ASTRA uses NixOS. A functioning NixOS installation is assumed.
 
-## Launching as Standalone
+## ROS2 Humble
 
-For use when running independent modules through their respective computers (pi/NUC) without ANCHOR.
+We use [ROS2 Humble](https://docs.ros.org/en/humble/index.html), and plan on using that until support for it expires. 
 
-1. SSH to the the module's computer
-    * Core1: `ssh clucky@192.168.1.69`
-    * Core2: `ssh clucky@192.168.1.70`
-    * Arm: `ssh arm@192.168.1.70`
-    * Bio: \<TBD>
-    * Password: \<can be found in the rover-Docs repo under documentation>
-2. Run the main node (this sends commands to the MCU)
-    * Navigate to the rover-ros2 workspace (location may vary)
-        * `cd rover-ros2`
-    * Source the workspace
-        * `source install/setup.bash`
-    * Start the node
-        * ARM: `ros2 launch rover_launch.py mode:=arm`
-        * CORE: `ros2 launch rover_launch.py mode:=core`
-        * BIO: `ros2 launch rover_launch.py mode:=bio`
+To install ROS2, run the following command in your /etc/nixos folder:
+```nix
+nix flake init --template github:lopsided98/nix-ros-overlay
+```
 
-## Running Headless
+After you install ROS2, you can install all dependencies needed by this repository by running the following commands:
 
-Headless control nodes (for ARM and CORE) allow running of the module on-rover without the operator having ROS2 installed on their machine. You will need a laptop to connect to the pi/NUC in order to launch headless but it can be disconnected after the nodes are spun up.
-<br>
-1. SSH to the the module's computer
-    * Core1: `ssh clucky@192.168.1.69`
-    * Core2: `ssh clucky@192.168.1.70`
-    * Arm: `ssh arm@192.168.1.70`
-    * Password: \<can be found in the rover-Docs repo under documentation>
-2. Run the  headless node
-    * You must have ANCHOR or the module's Standalone node running
-    * Open a new terminal (SSH'd to the module)
-    * Navigate to rover-ros2 workspace
-        * `cd rover-ros2`
-    * Source the workspace
-        * `source install/setup.bash`
-    * Run the node (ensure controller is connected and on x-input mode)
-        * CORE: `ros2 run core_pkg headless`
-        * ARM: `ros2 run arm_pkg headless`
+```bash
+$ sudo rosdep init  # only run once
+$ rosdep update
+$ rosdep install --from-path . --ignore-src -y
+```
+
+## IP Configuration
+
+- IP Address: 192.168.1.x
+    - This can be just about anything not already in use. I recommend something 30-39
+- Net Mask: 255.255.255.0
+- Gateway: 192.168.1.0
+
+# Hardware Requirements 
+
+- A functioning computer.
+
+# Recommended Programs
+
+## VSCode
+
+VSCode is a wonderful program. I used it to make this project and recommend anyone else working on it use it as well. 
+
+To install VSCode, add the following package to your pkgs array / packages.nix config file:
+```nix
+vscode-fhs
+```
+Alternatively, use a flake to install home-manager, and add to your home.nix:
+```nix
+vscode.enable = true;
+```
+
+# How to Use
+
+```bash
+$ colcon build
+$ source install/setup.bash
+  # main launch files:
+$ ros2 launch anchor_pkg rover.launch.py
+$ ros2 run headless_pkg headless_full
+```
+
+## Testing Serial
+
+You can fake the presence of a Serial device (i.e., MCU) by using the following command:
+
+```bash
+socat -dd -v pty,rawer,crnl,link=/tmp/ttyACM9 pty,rawer,crnl,link=/tmp/ttyOUT
+```
 
 ## Connecting the GuliKit Controller
 
@@ -87,3 +96,25 @@ Connecting the GuliKit Controller (Recommended)
 * Select the "X-Input" control mode (Windows logo) on the controller.
 * Hold the button next to the symbols (windows, android, switch, etc...)
 * You'll need to release the button and press down again to cycle to the next mode
+
+# Common Problems/Troubleshooting
+ 
+- TBD
+
+# Major To-Do Items
+
+- TBD
+
+# Author(s)
+
+|Name| Email |
+|--|--|
+| Tristan McGinnis | tlm |
+| David Sharpe | ds0196@uah.edu |
+
+# Maintainer(s)
+
+|Name| Email |
+|--|--|
+| David Sharpe | ds0196@uah.edu |
+| Riley McClain | email |