diff --git a/CHANGELOG b/CHANGELOG
index 78b3b78bf..32bd387b8 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,5 +1,6 @@
 DEVEL - **r4**
 * Bug in UrdfVisual origin to Pose conversion fixed (rctoris)
+* Unit test infrastructure started (baalexander)
 
 2013-03-28 - **r3**
 * URDF XML parser added (rctoris)
diff --git a/README.md b/README.md
index 5b8e8943b..f0a448901 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,40 @@
+roslibjs
+========
+
+#### The Standard ROS JavaScript Library ####
+
 [![Build Status](https://api.travis-ci.org/RobotWebTools/roslibjs.png)](https://travis-ci.org/RobotWebTools/roslibjs)
 
-NOTE: THIS CODE IS HIGHLY EXPERIMENTAL. IT IS MEANT AS A RESTRUCTURING AND STANDARDIZATION ATTEMPT FOR THE ROS JAVASCRIPT LIBRARIES. USE AT YOUR OWN RISK UNTIL AN OFFICIAL RELEASE IS MADE. FOR MORE INFORMATION, REFER TO https://github.com/RobotWebTools/robotwebtools.github.com/wiki/Libraries-Structure-Overview
+For full documentation, see [the ROS wiki](http://ros.org/wiki/roslibjs) or check out some [working demos](http://robotwebtools.org/).
+
+[JSDoc](http://robotwebtools.org/jsdoc/roslibjs/current/) can be found on the Robot Web Tools website.
+
+This project is released as part of the [Robot Web Tools](http://robotwebtools.org/) effort.
+
+### Usage ###
+Pre-built files can be found in either [roslib.js](build/roslib.js) or [roslib.min.js](build/roslib.min.js).
+
+Alternatively, you can use the current release via the Robot Web Tools CDN ([full](http://cdn.robotsfor.me/roslibjs/current/roslib.js)) | ([min](http://cdn.robotsfor.me/roslibjs/current/roslib.min.js))
+
+### Dependencies ###
+roslibjs depends on [EventEmitter2](https://github.com/hij1nx/EventEmitter2). The current supported version is 0.4.11.
+
+The current supported version can be found [in this project](include/EventEmitter2/eventemitter2.js) or on the Robot Web Tools CDN ([full](http://cdn.robotsfor.me/EventEmitter2/0.4.11/eventemitter2.js)) | ([min](http://cdn.robotsfor.me/EventEmitter2/0.4.11/eventemitter2.min.js))
+
+### Build ###
+To build from source, use the provided [ANT script](utils/build.xml).
+
+The script requires ANT, YUI Compressor, and JSDoc. To install these on an Ubuntu machine, use the following:
+
+    sudo apt-get install ant yui-compressor jsdoc-toolkit
+
+To run the build script, use the following:
+
+    cd utils/
+    ant
+
+### License ###
+roslibjs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.
+
+### Authors ###
+See the [AUTHORS](AUTHORS) file for a full list of contributors.