diff --git a/Writerside/topics/Developpement.md b/Writerside/topics/Developpement.md
index 41d4a2f..fe7d77e 100644
--- a/Writerside/topics/Developpement.md
+++ b/Writerside/topics/Developpement.md
@@ -9,3 +9,15 @@ export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 export FASTRTPS_DEFAULT_PROFILES_FILE=<modelec-serge-ROS install>/fastdds_setup.xml
 export ROS_DOMAIN_ID=128
 ```
+
+Ensuite rajouté ce bout de code dans le fichier `fastdds_setup.xml` :
+```xml
+<locator>
+    <udpv4>
+         <address>Tailscale IPv4 address / domain name</address>
+    </udpv4>
+</locator>
+```
+(Update coté client ET coté serveur (sur le rasp))
+
+(Ps: pour se connecter au [tailscale](connect-rasp.md))