Refs #3486 - Create Readme.md for uROS agent

Author: Javier Moreno

README.md

@@ -1,2 +1,35 @@
-# micro-ros-agent
+# Overview
 
+This repo contains the Micro-Ros Agent package.
+Micro-Ros Agent is a ROS2 node that wrapps the Micro XRCE-DDS Agent.
+For farther information about Micro XRCE-DDA Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
+
+The node acts as a server between DDS Network and Micro-ROS nodes.
+It will receive messages containing operations from Micro-ROS nodes, keep track of the Micro-ROS nodes. 
+The node will interact with DDS Global Data Space on behalf of the Micro-ROS nodes.
+
+While the node is running, it attends any received request from the Micro-ROS nodes and will answers back with the result of a request each time a request is attended.
+
+
+# Package features
+
+## XML generation
+
+During the build proces, the package will look for all ROS2 / Micro-ROS messages in order to generare XML profiles.
+This XML file can be referenced in the Agent-Client comunication in order to avoid sending the full XML content.
+
+
+## Agent-Client comunication mechanims
+
+Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two kind transports: 
+- UDP 
+- SerialPort. 
+ 
+
+# Node configuration
+ 
+## Transport type
+
+### udp
+
+### Serial port