Laurie/no ros2 beta (#265)

* No references to ROS2 beta

* Better message generation note

* Tutorial links

README.md

 - **Query primitives**. These simple, GameObject-less shapes allow for collision detection without requiring simulation (i.e., without calling Physics.Simulate). This feature will allow users to initialize objects in feasible locations, and can also be used for motion planning.
 
 ## [**New!**] ROS 2
-Interested in early access to ROS 2 integration? Email [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com) to join our alpha program.
+ROS2 support is now available! You can get started by following [this tutorial](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/publisher.md).
+
 
 ## FAQs
 [FAQs](faq.md)

faq.md

 - [Can't find what you're looking for?](#cant-find-what-youre-looking-for)
 
 # General Questions
-Is ROS 2 support planned?
+Does the package support ROS 2?
-We definitely plan to support ROS 2 in the future. Let us know more about your use case in order to prioritize our work by reaching out to us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+Yes it does! You can get started by following [this tutorial](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/publisher.md).
 
 How does your Unity integration compare to ROS#?
 ---
 
-Aside from facilitating communication with the TCP Endpoint, the TCP Connector contains the `MessageGeneration` code from ROS#. We added the extra functionality that when generating a C# class from a ROS message, functions are also generated that will serialize and deserialize the messages as ROS would internally.
+Aside from facilitating communication with the TCP Endpoint, the TCP Connector contains an adapted version of the `MessageGeneration` code from ROS#. However, unlike ROS# our messages are transmitted in ROS's own serialization format, eliminating the JSON encoding/decoding step for some significant performance improvements.
 
 You can find more details about the differences between our implementation and ROS#, along with some of their future plans, in the [ROS# project](https://github.com/siemens/ros-sharp/wiki/Ext_RosSharp_RoboticsHub#differences-between-unity-robotics-hub-and-ros).