Improves README.

README.md

@@ -1,11 +1,60 @@
-| GCC |
-| --------- |
-|[![gcc](https://github.com/ToyotaResearchInstitute/maliput_drake/actions/workflows/build.yml/badge.svg)](https://github.com/ToyotaResearchInstitute/maliput_drake/actions/workflows/build.yml) |
+[![gcc](https://github.com/maliput/maliput_drake/actions/workflows/build.yml/badge.svg)](https://github.com/maliput/maliput_drake/actions/workflows/build.yml)
 
-# `maliput_drake`
+# maliput_drake
+
+## Description
 
 A clone of [`drake`](https://github.com/RobotLocomotion/drake)'s trajectory integration support for `maliput` backends.
 
+**Note**: For full information about Maliput please visit [Maliput Documentation](https://maliput.readthedocs.io/en/latest/index.html).
+
+## Installation
+
+### Supported platforms
+
+Ubuntu Focal Fossa 20.04 LTS.
+
+### Binary Installation on Ubuntu
+
+See [Installation Docs](https://maliput.readthedocs.io/en/latest/installation.html#binary-installation-on-ubuntu).
+
+### Source Installation on Ubuntu
+
+#### Prerequisites
+
+```
+sudo apt install python3-rosdep python3-colcon-common-extensions
+```
+
+#### Build
+
+1. Create colcon workspace if you don't have one yet.
+    ```sh
+    mkdir colcon_ws/src -p
+    ```
+
+2. Clone this repository in the `src` folder
+    ```sh
+    cd colcon_ws/src
+    git clone https://github.com/maliput/maliput_drake.git
+    ```
+
+3. Install package dependencies via `rosdep`
+    ```
+    export ROS_DISTRO=foxy
+    ```
+    ```sh
+    rosdep update
+    rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src
+    ```
+
+4. Build the package
+    ```sh
+    colcon build --packages-up-to maliput_drake
+    ```
+
+For further info refer to [Source Installation on Ubuntu](https://maliput.readthedocs.io/en/latest/installation.html#source-installation-on-ubuntu)
+
 ## How to copy `drake` into `maliput_drake`?
 
 ### Copying files
@@ -232,3 +281,15 @@ target_link_libraries(
 
 Prefer `PRIVATE` linkage when possible to avoid any unneeded exposure of `drake`-specific
 types.
+
+### For development
+
+It is recommended to follow the guidelines for setting up a development workspace as described [here](https://maliput.readthedocs.io/en/latest/developer_setup.html).
+
+## Contributing
+
+Please see [CONTRIBUTING](https://maliput.readthedocs.io/en/latest/contributing.html) page.
+
+## License
+
+[![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://github.com/maliput/maliput_drake/blob/main/LICENSE)