diff --git a/README.md b/README.md
index 0c4d5912..25ae9714 100644
--- a/README.md
+++ b/README.md
@@ -2,11 +2,15 @@
 
 [![GitHub license](https://img.shields.io/github/license/PX4/px4_ros_com.svg)](https://github.com/PX4/px4_ros_com/blob/master/LICENSE) [![GitHub (pre-)release](https://img.shields.io/github/release-pre/PX4/px4_ros_com.svg)](https://github.com/PX4/px4_ros_com/releases/tag/beta) [![DOI](https://zenodo.org/badge/142936318.svg)](https://zenodo.org/badge/latestdoi/142936318) [![Build and Test package](https://github.com/PX4/px4_ros_com/workflows/Build%20and%20Test%20package/badge.svg?branch=master)](https://github.com/PX4/px4_ros_com/actions)
 
-This package materializes the ROS2 side of PX4 DDS bridge, establishing a bridge between the PX4 autopilot stack through an XRCE-DDS bridge. It has a straight dependency on the [`px4_msgs`](https://github.com/PX4/px4_msgs) package.
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+
+This package provides example nodes for exchanging data and commands between ROS2 and PX4.
+It also provides a [library](./include/px4_ros_com/frame_transforms.h) to ease the conversion between ROS2 and PX4 frame conventions.
+It has a straight dependency on the [`px4_msgs`](https://github.com/PX4/px4_msgs) package.
 
 ## Install, build and usage
 
-Check the [ROS2 Interface](https://dev.px4.io/en/middleware/micrortps.html) section on the PX4 Devguide for details on how to install the required dependencies, build the package (composed by the two branches) and use it.
+Check the [uXRCE-DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html) and the [ROS2 Interface](https://docs.px4.io/main/en/ros/ros2_comm.html) sections on the PX4 Devguide for details on how to install the required dependencies, build the package and use it.
 
 ## Bug tracking and feature requests
 
@@ -14,5 +18,4 @@ Use the [Issues](https://github.com/PX4/px4_ros_com/issues) section to create a
 
 ## Questions and troubleshooting
 
-Reach the PX4 development team on the `#messaging` or `#ros` PX4 Slack channels:
-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+Reach the PX4 development team on the [PX4 Discord Server](https://discord.gg/dronecode).