diff --git a/doc/local_ros_installation.md b/doc/local_ros_installation.md
index 81fe17084b291961d28efffc87b50ab6c779c27b..ef5325c0e8ee766825b6051abe91724a26b59cf3 100644
--- a/doc/local_ros_installation.md
+++ b/doc/local_ros_installation.md
@@ -229,13 +229,21 @@ sudo make install djiosdk-core
 
 ## Running Simulator Locally
 
-TO BE WRITTEN.
+### Start dji0 with simulator running from local repos
 
+On the local machine run:
 ```bash
 roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true ns:=/dji0
 ```
 
-
+In the docker run
 ```bash
 wexec roslaunch lrs_launch djisimtst.launch simulator:=false ns:=/dji0
 ```
+
+### Issues
+
+If the local machine is Ubuntu 20.04 and running ROS noetic there will
+be a possible mismatch in message checksums compared to melodic
+running in the docker. Most things seems to work.  Docker images for
+noetic will be coming soon.