From 8b244498d46823395427dda487be869f21f3bb3f Mon Sep 17 00:00:00 2001
From: "Ian J. Moore" <46928068+ianjmoore@users.noreply.github.com>
Date: Tue, 5 Sep 2023 12:51:16 -0400
Subject: [PATCH] Update README.md

Added udev rules to readme for ROS2 branch
---
 README.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/README.md b/README.md
index 8f23e9e..df73852 100644
--- a/README.md
+++ b/README.md
@@ -71,6 +71,15 @@ If you are interested in working on the node in a docker container, see the [Doc
 
 If you need to modify the source of this repository, or are running on a platform that we do not support, you can build from source by following the [Building From Source](#building-from-source) guide below.
 
+When building from source it is important to install the udev rules to ensure ports are static. Instructions below: 
+
+Download the [udev](https://github.com/LORD-MicroStrain/microstrain_inertial/blob/ros/microstrain_inertial_driver/debian/udev) file, and copy it to `/usr/lib/udev/rules.d/100-microstrain.rules` on Ubuntu or `/etc/udev/rules.d/100-microstrain.rules` on debian, CentOS, or Redhat
+
+Once the udev rule is installed, the devices will appear as follows in the file system, where {serial} is the serial number of the device:
+
+* `/dev/microstrain_main_{serial}` - All GX5 devices, and the main port of GQ7 devices
+* `/dev/microstrain_aux_{serial}` - The aux port of GQ7 devices
+* `/dev/microstrain_rtk_{serial}` - 3DM-RTK devices
 
 #### **IMPORTANT NOTE ABOUT CLONING**