improve readme

README.md

@@ -11,7 +11,7 @@
 
 **ROS / ROS 2 Support for ETSI ITS Messages for V2X Communication**
 
-The *etsi_its_messages* package stack allows to use standardized ETSI ITS messages for V2X communication in ROS / ROS 2 systems. Apart from the definition of ROS message equivalents to the ETSI ITS standards, this package stack also includes a conversion node for serializing the messages to and from a UDP payload, as well as RViz plugins for visualization (ROS 2 only).
+The *etsi_its_messages* package stack allows to use standardized ETSI ITS messages for V2X communication in ROS / ROS 2 systems. Message definitions and conversion functions can be generated automatically based on the ASN.1 definition. Apart from the definition of ROS message equivalents to the ETSI ITS standards, this package stack also includes a conversion node for serializing the messages to and from a UDP payload, as well as RViz plugins for visualization (ROS 2 only).
 
 > [!IMPORTANT]  
 > This repository is open-sourced and maintained by the [**Institute for Automotive Engineering (ika) at RWTH Aachen University**](https://www.ika.rwth-aachen.de/).  
@@ -37,6 +37,9 @@ The *etsi_its_messages* package stack allows to use standardized ETSI ITS messag
 
 ![Framework](assets/framework.png)
 
+The figure above describes the present framework, which can be divided into code generation and runtime application. A given ASN.1 definition can be used to generate both, corresponding C-structures and ROS message definitions, as well as conversion functions to generate appropriate ROS messages out of the C-structures and vice versa.
+
+The core of the runtime application is the etsi_its_conversion-node which converts incoming UDP payload into corresponding ROS messages and vice versa. The ROS equivalents of the ETSI ITS messages can be used in various processing ROS applications or, for example, visualized using the provided RViz plugins.
 
 ## Supported ETSI ITS Messages
 
@@ -88,6 +91,8 @@ The ROS message files are auto-generated based on the ASN.1 definition of the ET
   -o etsi_its_msgs/etsi_its_cam_msgs/msg
 ```
 
+(To do: short explanation and motivation of `reduceAsn1ToTypeDependencies.py`)
+
 ### `etsi_its_coding`
 
 The `etsi_its_coding` metapackage includes one dedicated package for each ETSI ITS message type, e.g., `etsi_its_cam_coding`. These packages provide C++ libraries containing a `struct` implementation of the ETSI ITS message types including functions for encoding and decoding the structures to binary buffers.
@@ -202,7 +207,6 @@ docker run --rm ghcr.io/ika-rwth-aachen/etsi_its_messages:ros2
 docker run --rm ghcr.io/ika-rwth-aachen/etsi_its_messages:ros
 ```
 
-
 ## Acknowledgements
 
 This work is accomplished within the projects 6GEM (FKZ 16KISK036K), AUTOtech.agil (FKZ 01IS22088A), and AIthena (101076754). We acknowledge the financial support for the projects by the Federal Ministry of Education and Research of Germany (BMBF) :de:. Moreover this work has received funding from the European Union’s Horizon Europe Research and Innovation Programme :eu: under Grant Agreement No 101076754 - AIthena project.