diff --git a/scl7.2/README.md b/scl7.2/README.md
new file mode 100644
index 0000000..1066085
--- /dev/null
+++ b/scl7.2/README.md
@@ -0,0 +1,43 @@
+### Gazebo (http://gazebosim.org)
+> Installation scripts for compiling and deploying Gazebo from source.
+
+## How to install gazebo
+```shell
+./gazebo7_install.sh
+```
+
+## How to install gzweb (web client for Gazebo)
+```shell
+./gzweb_install.sh
+```
+
+## How to run Gazebo with remote 3D rendering
+1. make sure that the remote machine has VirtualGL and a TurboVNC installed
+2. ssh to the remote machine
+3. start the vncserver:
+```shell
+vncserver :10 #10 is the display number. Any free display number will do.
+```
+4. start a VNC session from the local machine to the display #10 of the remote machine:
+```shell
+vncviewer <remote hostname>:10
+```
+5. start a shell in the remote machine
+6. launch gazebo with VirtualGL:
+```shell
+vglrun ./start_gazebo.sh
+```
+
+## How to run gzweb (web client for Gazebo)
+1. start gzserver+gzweb on the machine with Gazebo installed:
+```shell
+./start_gzweb.sh
+```
+Note: gzweb's log file is /tmp/gzweb.log.
+
+Now you should be able to use the Gazebo's web interface from any browser with WebGL and WebSocket support. Gazebo is typically available at http://&lt;address of machine with gazebo installed&gt;:8080. See gzweb log file for the exact URL.
+
+## How to stop gzweb (web client for Gazebo)
+```shell
+./stop_gzweb.sh
+```
diff --git a/scl7.2/start_gzweb.sh b/scl7.2/start_gzweb.sh
index 05601dd..9ab5089 100755
--- a/scl7.2/start_gzweb.sh
+++ b/scl7.2/start_gzweb.sh
@@ -3,9 +3,16 @@
 SCRIPT_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 source $SCRIPT_PATH/load-environment
 
+logfile_gzserver=/tmp/gzserver.log
+logfile_gzweb=/tmp/gzweb.log
+
 #nohup is used for a quick and dirty demonization here
 if pgrep gzserver &>/dev/null ; then
-   nohup $PREFIX/bin/gzserver --verbose 0<&- &>/tmp/gzserver.log &
+   echo "gzserver already running"
+else
+   echo "starting gzserver... logging to $logfile_gzserver"
+   nohup $PREFIX/bin/gzserver --verbose 0<&- &>$logfile_gzserver &
 fi
-nohup $HOME/osrf-gzweb-b027171f5aa1/start_gzweb.sh 0<&- &>/tmp/gzweb.log &
+echo "starting gzweb... logging to $logfile_gzweb"
+nohup $HOME/osrf-gzweb-b027171f5aa1/start_gzweb.sh 0<&- &>$logfile_gzweb &