Misc changes

README.md

@@ -12,6 +12,8 @@ ros2 launch draw_svg draw_svg.launch.py
 
 ## xArm lite6
 - web interface: http://192.168.1.150:18333
+
+free drive mode: https://github.com/xArm-Developer/xarm_ros#6-mode-change
 ## ROS2 rpi4
 https://github.com/ros-realtime/ros-realtime-rpi4-image/releases
 
@@ -31,3 +33,10 @@ apt update && apt upgrade
 
 apt install ros-dev-tools
 ```
+
+
+### Access xarm webUI from different network
+If connected to the pi on 192.168.22.199, one can forward the webUI to localhost:8080 with the following:
+``` sh
+ssh -L 8080:192.168.1.150:18333 ubuntu@192.168.22.199
+```