diff --git a/.DS_Store b/.DS_Store
index 0f6ce87b..a86734fa 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/README.md b/README.md
index 7f76bcc6..9a191add 100755
--- a/README.md
+++ b/README.md
@@ -43,7 +43,7 @@ You should see this screen pop up.
 🚙 Bon Voyage 😀
 
 # ROS
-This project uses ROS. The launch files will launch the neccesary nodes as well as rviz for visualization. For more information on ROS, nodes, topics and others please refer to the [README](./ros/src/README.md) in the `./src` directory. 
+This project uses ROS. The launch files will launch the neccesary nodes as well as rviz for visualization. __For more information on ROS, nodes, topics and others please refer to the ROS [README](./ros/README.md).__
 
 
 # Simulation
@@ -51,6 +51,8 @@ This project uses ROS. The launch files will launch the neccesary nodes as well
 
 Building a self-driving car is hard. Not everyone has access to expensive hardware. I am currently trying to integrate this project with the CARLA self-driving simulator. If you are interested in CARLA, please refer to this [documentation](./ros/src/simulation/README.md). The ROS system in this project can *partially* run on the CARLA simulator. 
 
+__If you want to try out the simulator, please refer to the documentation [here](./ros/src/simulation/README.md).__
+
 <center>
     <img src="./ros/src/simulation/assets/simulator-1.png" alt="Drawing" width="640"/>
 </center>
diff --git a/ros/.DS_Store b/ros/.DS_Store
index 84e4c70f..b84e4b60 100644
Binary files a/ros/.DS_Store and b/ros/.DS_Store differ
diff --git a/ros/README.md b/ros/README.md
index b3959c34..99ed041a 100755
--- a/ros/README.md
+++ b/ros/README.md
@@ -6,6 +6,23 @@ Here is a list of packages. Underneath each package are nodes in that package.
 
 ------------------------------
 
+### simulation
+The major purpose of the simulation package is to connect our self-driving system to CARLA simulator. To run the package, please refer to the documentation [here](./src/simulation/README.md).
+
+The simulation package can also run simulated camera inputs using the `camera_sim_node`
+
+#### Nodes:
+- `carla_client`
+- `camera_sim_node`
+
+#### Launch Files:
+- `carla_client.launch`
+- `carla_client_with_rviz.launch`
+- `carla_client_with_rqt.launch`
+- `start_camera_sim.launch`
+
+------------------------------
+
 ### autopilot
 The autopilot node is the brain of the self-driving car. It uses end-to-end
 deep learning to predict the steering, acceleration and braking commands of 
diff --git a/ros/src/.DS_Store b/ros/src/.DS_Store
index 0349a8c2..454467d9 100755
Binary files a/ros/src/.DS_Store and b/ros/src/.DS_Store differ
diff --git a/ros/src/__init__.py b/ros/src/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/ros/src/data_logger/.DS_Store b/ros/src/data_logger/.DS_Store
index e30650bd..cbb4c714 100644
Binary files a/ros/src/data_logger/.DS_Store and b/ros/src/data_logger/.DS_Store differ
diff --git a/ros/src/simulation/.DS_Store b/ros/src/simulation/.DS_Store
index 26386652..2d48fe62 100644
Binary files a/ros/src/simulation/.DS_Store and b/ros/src/simulation/.DS_Store differ
diff --git a/ros/src/simulation/README.md b/ros/src/simulation/README.md
index 66bf0414..c2cfe3a5 100644
--- a/ros/src/simulation/README.md
+++ b/ros/src/simulation/README.md
@@ -9,8 +9,6 @@ does not work out of the box with the ROS bridge.
 
 ![rviz setup](./assets/simulator-1.png "rviz")
 
-
-
 ![depthcloud](./assets/simulator-2.png "depthcloud")
 
 # Features
@@ -22,8 +20,13 @@ does not work out of the box with the ROS bridge.
 - [x] Marker/bounding box messages for cars/pedestrian
 - [x] Lidar sensor support
 
+# General System Diagram
+![Image](./assets/self-driving-golf-cart-flow-chart-sim.jpg)
+
 # How to Run CARLA & the Simulation Package
 
+Please follow the instructions to run the self-driving software with ROS and CARLA.
+
 ## 1. Setting Up:
 
 ### 1.1 Install CARLA
@@ -39,7 +42,8 @@ At this point, you should have downloaded the compiled version of the CARLA simu
     sudo easy_install <path/to/carla/>/PythonAPI/<your_egg_file>
 
 Just as an example, for me, the command is this:
-​    sudo easy_install '/home/neil/carla/PythonAPI/carla-0.9.2-py2.7-linux-x86_64.egg'
+
+	sudo easy_install '/home/neil/carla/PythonAPI/carla-0.9.2-py2.7-linux-x86_64.egg'
 
 Please note that you have to put in the complete path to the egg-file including the egg-file itself. Please use the one, that is supported by your Python version. Depending on the type of CARLA (pre-build, or build from source), the egg files are typically located either directly in the PythonAPI folder or in PythonAPI/dist.
 
diff --git a/ros/src/simulation/__init__.py b/ros/src/simulation/__init__.py
deleted file mode 100644
index e69de29b..00000000