diff --git a/README.md b/README.md
index 3d8751e57459531660bcf414ee6773ddb92288a0..be16e6f5b7222e4ffb9f3f7754671a734c17eae8 100644
--- a/README.md
+++ b/README.md
@@ -254,6 +254,19 @@ rostopic pub -1 -- /dji0/setpoint_y std_msgs/Float64 25.0
 rostopic pub -1 -- /dji0/setpoint_yaw std_msgs/Float64 1.0
 ```
 
+5.6 Getting TF
+
+If TF is neeed then instead of starting roscore do:
+
+```bash
+roslaunch lrs_launch config.launch location:=granso ns:=/dji0
+```
+
+and then:
+
+```bash
+rosrun lrs_dji djiconnect _publish_pose:=true __ns:=/dji0
+```
 
 ## 6. Control Examples Using Hardware Simulator (NO Docker)