Writes a proper readme.

- Removes duplicated README
- Provides build instructions.
- Explains how to link against drake targets.

README.md

@@ -1,3 +1,78 @@
 # `maliput_drake`
 
-A clone of `drake`'s trajectory integration support for `maliput` backends.
+A clone of [`drake`](https://github.com/RobotLocomotion/drake)'s trajectory integration support for `maliput` backends.
+
+## Build
+
+1. Setup a maliput_drake (or a wider maliput) development workspace as described [here](https://github.com/ToyotaResearchInstitute/maliput_documentation/blob/main/docs/installation_quickstart.rst)
+
+2. Bring up your development workspace:
+
+```sh
+cd path/to/my/workspace
+source ./bringup
+```
+
+3. Build `maliput_drake` packages and their dependencies:
+
+   ```sh
+   colcon build --packages-up-to maliput_drake
+   ```
+
+## Use `maliput_drake` as a dependency
+
+### Installed targets
+
+The following targets are installed and can be used when adding `maliput_drake`
+as an `ament` dependency.
+
+- `maliput_drake::common`
+- `maliput_drake::trajectories`
+- `maliput_drake::math`
+- `maliput_drake::analysis`
+- `maliput_drake::framework`
+
+All of them are shared libraries.
+
+### Adding `maliput_drake` to you `package.xml`
+
+When creating the `ament` package, make sure to add `maliput_drake` to your `package.xml`:
+
+```xml
+<depend>maliput_drake</depend>
+```
+
+### Finding the package
+
+In your project, add the following to your `CMakeLists.txt` file to import the package:
+
+```cmake
+find_package(maliput_drake REQUIRED)
+```
+
+### Export the `ament` dependency
+
+Make sure to export the dependency as follows:
+
+```cmake
+ament_export_dependencies(maliput_drake)
+```
+
+### Linking against the libraries
+
+To link against one or man of the aforementioned targets, simply do the following:
+
+```cmake
+target_link_libraries(
+  my_fancy_target
+    PUBLIC # PRIVATE
+    maliput_drake::analysis
+    maliput_drake::common
+    maliput_drake::framework
+    maliput_drake::math
+    maliput_drake::trajectories
+)
+```
+
+Prefer `PRIVATE` linkage when possible to avoid any unneeded exposure of `drake`-specific
+types.