From d6659a21d76df3c499fb5c55f360d161837d5253 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Sun, 19 Feb 2023 17:56:45 +0100
Subject: [PATCH] Adding djiconnect as option to simulator in section 5.

---
 README.md | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/README.md b/README.md
index 3d8751e..be16e6f 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)
 
-- 
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