diff --git a/README b/README
index 8a8bf70..a0ebd91 100644
--- a/README
+++ b/README
@@ -1,4 +1,4 @@
-This is a layer to provide ros in an openembedded linux system.
+This is a layer to provide ROS in an openembedded linux system.
 Currently, this layer is still under development and not fully functional.
 
 PURPOSE of this document:
@@ -10,11 +10,14 @@ PURPOSE of this document:
 
 INSTALLATION:
 
-  The repository only contains a layer for ros to be added to the existing yocto poky-danny-8.0 archive.
-
+  The repository only contains a layer for ros that builds on top of the existing openembedded core layer.
+  You can download the yocto poky-danny-8.0 archive, but then you should update the distutils.bbclass,
+  and maybe also the url of libarchive.
   To install, unpack http://downloads.yoctoproject.org/releases/yocto/yocto-1.3/poky-danny-8.0.tar.bz2 into a directory <dir>.
-  In <dir>, clone this repository into the subdirectory meta-ros. 
-  Add the meta-ros directory to your local bblayers.conf file 
+  
+  In the directory of the layers, clone this repository into the subdirectory meta-ros. 
+  Add the meta-ros directory to your local bblayers.conf file.
+
 
 USE for native compilation on the VM (milestone M1):
   The commands
@@ -27,11 +30,22 @@ USE for native compilation on the VM (milestone M1):
   
   On the host system, run fetch_ros.sh in a fresh directory, e.g. ~/ros-repos/.
   It clones all ros repositories locally.
-  Then adjust pathes in fuerte-ros-base.rosinstall to the local repositories.
-  After starting the virtual machine, copy the installation script from the host system to the home directory with scp and execute it.
+  After starting the virtual machine, copy the installation script from the host system to the home directory with scp.
   
     scp lukas@192.168.7.1:/<location of repository>/install.sh .
+
+  Adjust configuration in install.sh and then run
+
     sh ./install.sh
+  
+  The installation script installs ros and starts roscore.
+
+USE for cross-compilation (milestone M2):
+   
+  source oe-init-build-env
+  bitbake ros
+
+  momentarily fails at some point (see CURRENT STATE)
 
 
 CONTENT of the repository:
diff --git a/fetch_ros.sh b/fetch_ros.sh
index 39faf84..15f2c54 100644
--- a/fetch_ros.sh
+++ b/fetch_ros.sh
@@ -8,4 +8,4 @@ git clone git://github.com/wg-debs/ros-release.git
 git clone git://github.com/wg-debs/ros_comm-release.git
 git clone git://github.com/wg-debs/roscpp_core-release.git
 git clone git://github.com/wg-debs/rospack-release.git
-git clone git://github.com/wg-debs/std_msgs-release.git
+git clone git://github.com/wg-debs/std_msgs-release.git
\ No newline at end of file
diff --git a/install.sh b/install.sh
index 9d55972..5fc38ea 100644
--- a/install.sh
+++ b/install.sh
@@ -1,18 +1,67 @@
+#!/bin/bash
 ## Installation script that should run in the virtual machine
 # copy it into the virtual machine with:
 # scp <user>@192.168.7.1:/<location of install.sh> .
 # and run it:
 # sh ./install.sh
 #
+# local setting (must be adjusted)
+USERNAME="lukas"
+REPOS_PATH="/home/lukas/ros-repos/"
+HOST_IP="192.168.7.1"
 # This script does the following steps:
 # create ssh login without password
-USERNAME = lukas
-REPOS_PATH = /home/lukas/ros_server/
-HOST_IP = 192.168.7.1
+#
 ssh-keygen -t rsa
 cat .ssh/id_rsa.pub | ssh $USERNAME@$HOST_IP 'cat >> .ssh/authorized_keys'
-# copy prepared rosinstall file
-scp $USERNAME@$HOST_IP:$REPOS_PATH/fuerte-ros-base.rosinstall .
+# create prepared rosinstall file
+
+cat > fuerte-ros-base.rosinstall << EOF
+- git:
+    local-name: catkin
+    uri: git://$HOST_IP/$REPOS_PATH/catkin-release
+    version: debian/ros-fuerte-catkin_0.4.4_lucid
+- git:
+    local-name: common_msgs
+    uri: git://$HOST_IP/$REPOS_PATH/common_msgs-release
+    version: debian/ros-fuerte-common-msgs_1.8.7_lucid
+- git:
+    local-name: gencpp
+    uri: git://$HOST_IP/$REPOS_PATH/gencpp-release
+    version: debian/ros-fuerte-gencpp_0.3.4_lucid
+- git:
+    local-name: genlisp
+    uri: git://$HOST_IP/$REPOS_PATH/genlisp-release
+    version: debian/ros-fuerte-genlisp_0.3.3_lucid
+- git:
+    local-name: genmsg
+    uri: git://$HOST_IP/$REPOS_PATH/genmsg-release
+    version: debian/ros-fuerte-genmsg_0.3.10_lucid
+- git:
+    local-name: genpy
+    uri: git://$HOST_IP/$REPOS_PATH/genpy-release
+    version: debian/ros-fuerte-genpy_0.3.7_lucid
+- git:
+    local-name: ros
+    uri: git://$HOST_IP/$REPOS_PATH/ros-release
+    version: debian/ros-fuerte-ros_1.8.9_lucid
+- git:
+    local-name: ros_comm
+    uri: git://$HOST_IP/$REPOS_PATH/ros_comm-release
+    version: debian/ros-fuerte-ros-comm_1.8.12_lucid
+- git:
+    local-name: roscpp_core
+    uri: git://$HOST_IP/$REPOS_PATH/roscpp_core-release
+    version: debian/ros-fuerte-roscpp-core_0.2.5_lucid
+- git:
+    local-name: rospack
+    uri: git://$HOST_IP/$REPOS_PATH/rospack-release
+    version: debian/ros-fuerte-rospack_2.0.13_lucid
+- git:
+    local-name: std_msgs
+    uri: git://$HOST_IP/$REPOS_PATH/std_msgs-release
+    version: debian/ros-fuerte-std-msgs_0.4.8_lucid
+EOF
 # run rosinstall
 mkdir ~/ros
 rosinstall --catkin ~/ros fuerte-ros-base.rosinstall