diff --git a/README.md b/README.md
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--- a/README.md
+++ b/README.md
@@ -23,6 +23,7 @@ Software package and ROS wrappers of the [Aruco][1] Augmented Reality marker det
 
 <img align="right" src="https://raw.github.com/pal-robotics/aruco_ros/master/aruco_ros/etc/reem_gazebo_floating_marker_world.png"/>
 
+
 ### ROS API
 
 #### Messages
@@ -39,6 +40,14 @@ Software package and ROS wrappers of the [Aruco][1] Augmented Reality marker det
         Header header
         aruco_ros/Marker[] markers
 
+### Kinetic changes
+
+Updated the [Aruco][1] library to version 3.0.4
+
+Changed the coordinate system to match the libraries, as can be seen in the image below.
+Following rviz conventions, X is red, Y is green and Z is blue
+<img align="bottom" src="/aruco_ros/etc/new_coordinates.png"/>
+
 ### Test it with REEM
 
  * Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
diff --git a/aruco_ros/etc/new_coordinates.png b/aruco_ros/etc/new_coordinates.png
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