From 26b1abee3cb730cbf50f83e037c7240b58a0f009 Mon Sep 17 00:00:00 2001
From: Tiziano Guadagnino <37455909+tizianoGuadagnino@users.noreply.github.com>
Date: Wed, 27 Nov 2024 15:32:40 +0100
Subject: [PATCH] README patch (#21)

---
 README.md | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/README.md b/README.md
index 7f9f688..9ab59f3 100644
--- a/README.md
+++ b/README.md
@@ -90,6 +90,14 @@ To specify a custom directory for the output file, use the `output_dir` paramete
 ros2 launch kinematic_icp offline_node.launch.py lidar_topic:=<TOPIC> bag_filename:=<ROSBAG> output_dir:=<OUTPUT_DIRECTORY>
 ```
 
+## 2D LiDAR support
+
+You can run both the `online_node` and the `offline_node` on a 2D Laser topic (with message type `LaserScan`) by setting the `use_2d_lidar` flag to `true`. For example:
+
+```sh
+ros2 launch kinematic_icp online_node.launch.py lidar_topic:=<LASER_2D_TOPIC> use_2d_lidar:=true
+```
+
 
 ## Citation