diff --git a/README.md b/README.md
index 41011ec..2fc09dd 100644
--- a/README.md
+++ b/README.md
@@ -1,13 +1,37 @@
 # A ROS2 RMW implementation for Eclipse Cyclone DDS
 
-This is an extended proof-of-concept RMW implementation for
-using [*ROS2*](https://index.ros.org/doc/ros2)
+With the code in this repository, it is possible to use [*ROS2*](https://index.ros.org/doc/ros2)
 with [*Eclipse Cyclone DDS*](https://github.com/eclipse-cyclonedds/cyclonedds) as the underlying DDS
 implementation.
 
-Whatever ROS2 C++ test/demo code I could manage to run on macOS seems to work (that covers most of
-the core features), and the ROS2 CLI (``ros2``) on Linux gives a reasonable indication that most of
-introspection functions also work.  So basically, pretty much everything works.
+## Getting, building and using it
+
+All it takes to get Cyclone DDS support into ROS2 is to clone this repository and the Cyclone DDS
+one in the ROS2 workspace source directory, and then run colcon build in the usual manner:
+
+    cd ros2_ws/src
+    git clone https://github.com/atolab/rmw_cyclonedds
+    git clone https://github.com/eclipse-cyclonedds/cyclonedds
+    cd ..
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
+    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+This seems to work fine on Linux with a binary ROS2 installation as well as when building ROS2 from
+source.  On macOS it has only been tested in a source build on a machine in an "unsupported"
+configuration (macOS 10.14 with SIP enabled, instead of 10.12 with SIP disabled), and apart from a
+few details that are caused by the machine configuration, that works fine, too.  There is no reason
+why it wouldn't work the same on Windows, but I haven't tried.
+
+That said, Cyclone DDS has some prerequisites because it currently relies on Java and Maven to build
+its IDL preprocessor, and so it is probably advisable to check its README for details.  On an Ubuntu
+18.04 system, ``sudo apt-get install maven default-jdk`` will likely address that.
+
+If you want to use a pre-existing installation of Cyclone DDS, you don't need to clone it, but you
+may have to tell CMake where to look for it using the CycloneDDS\_DIR variable.  That also appears
+to be the case if there are other packages in the ROS2 workspace that you would like to use Cyclone
+DDS directly instead of via the ROS2 abstraction.
+
+## Known limitations
 
 There are a number of known limitations:
 
@@ -20,10 +44,10 @@ There are a number of known limitations:
   allowing it, even if it is easy to support it today.  (E.g., a remote procedure call interface
   ...)
     
-* Cyclone DDS does not currently support multiple domains simultaneously, and so this RMW
-  implementation ignores the domain_id parameter in create_node, instead creating all
-  nodes/participants (including the special participant mentioned above) in the default domain,
-  which can be controlled via CYCLONEDDS_URI.
+* Cyclone DDS does not currently support multiple domains simultaneously (waiting in a PR for the
+  final polish), and so this RMW implementation ignores the domain\_id parameter in create\_node,
+  instead creating all nodes/participants (including the special participant mentioned above) in the
+  default domain, which can be controlled via CYCLONEDDS\_URI.
     
 * Deserialization only handles native format (it doesn't do any byte swapping).  This is pure
   laziness, adding it is trivial.