diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md
index b148fa23e0..1af0af6f60 100644
--- a/libraries/AP_DDS/README.md
+++ b/libraries/AP_DDS/README.md
@@ -377,3 +377,40 @@ This will run the tools automatically when you commit. If there are changes, jus
   pre-commit install
   git commit
   ```
+
+## Testing DDS on Hardware
+
+### With Serial
+
+The easiest way to test DDS is to make use of some boards providing two serial interfaces over USB such as the Pixhawk 6X.
+The [Pixhawk6X/hwdef.dat](../AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat) file has this info.
+```
+SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
+```
+
+For example, build, flash, and set up OTG2 for DDS
+```bash
+./waf configure --board Pixhawk6X --enable-dds
+./waf plane --upload
+mavproxy.py --console
+param set DDS_ENABLE 1
+# Check the hwdef file for which port is OTG2
+param set SERIAL8_PROTOCOL 45
+param set SERIAL8_BAUD 115
+reboot
+```
+
+Then run the Micro ROS agent
+```bash
+cd /path/to/ros2_ws
+source install/setup.bash
+cd src/ardupilot/libraries/AP_DDS
+ros2 run micro_ros_agent micro_ros_agent serial -b 115200  -r dds_xrce_profile.xml -D /dev/serial/by-id/usb-ArduPilot_Pixhawk6X_210028000151323131373139-if02
+```
+
+If connection fails, instead of running the Micro ROS agent, debug the stream
+```bash
+python3 -m serial.tools.miniterm /dev/serial/by-id/usb-ArduPilot_Pixhawk6X_210028000151323131373139-if02  115200 --echo --encoding hexlify
+```
+
+The same steps can be done for physical serial ports once the above works to isolate software and hardware issues.