diff --git a/docker/Dockerfile b/docker/Dockerfile
index 78fa56c..98a7af0 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -42,7 +42,8 @@ FROM pre-dev AS dep-ros2
 ARG MICRO_XRCE_DDS_AGENT_VERSION=v2.4.2
 ARG PX4_MSGS_VERSION=release/1.16
 ARG PX4_ROS2_INTERFACE_LIB_VERSION=release/1.16
-RUN --mount=type=bind,source=./docker/scripts/build_ros_deps.sh,target=/root/scripts/build_ros_deps.sh /root/scripts/build_ros_deps.sh ${MICRO_XRCE_DDS_AGENT_VERSION} ${PX4_MSGS_VERSION} ${PX4_ROS2_INTERFACE_LIB_VERSION}
+ARG PX4_ROS_COM_VERSION=release/1.16
+RUN --mount=type=bind,source=./docker/scripts/build_ros_deps.sh,target=/root/scripts/build_ros_deps.sh /root/scripts/build_ros_deps.sh ${MICRO_XRCE_DDS_AGENT_VERSION} ${PX4_MSGS_VERSION} ${PX4_ROS2_INTERFACE_LIB_VERSION} ${PX4_ROS_COM_VERSION}
 
 ########################################
 ##              BUILD PX4             ##
diff --git a/docker/scripts/build_ros_deps.sh b/docker/scripts/build_ros_deps.sh
index 1a3ee42..9526e09 100755
--- a/docker/scripts/build_ros_deps.sh
+++ b/docker/scripts/build_ros_deps.sh
@@ -4,11 +4,13 @@ set -eo pipefail
 MICRO_XRCE_DDS_AGENT_VERSION=$1
 PX4_MSGS_VERSION=$2
 PX4_ROS2_INTERFACE_LIB_VERSION=$3
+PX4_ROS_COM_VERSION=$4
 
 mkdir -p /root/px4_ros_ws/src && cd /root/px4_ros_ws/src && \
 git clone --depth 1 -b ${MICRO_XRCE_DDS_AGENT_VERSION} https://github.com/eProsima/Micro-XRCE-DDS-Agent.git && \
 git clone --depth 1 -b ${PX4_MSGS_VERSION} https://github.com/PX4/px4_msgs.git && \
 git clone --depth 1 -b ${PX4_ROS2_INTERFACE_LIB_VERSION} https://github.com/Auterion/px4-ros2-interface-lib.git && \
+git clone --depth 1 -b ${PX4_ROS_COM_VERSION} https://github.com/PX4/px4_ros_com.git && \
 git clone --depth 1 -b humble https://github.com/ros-perception/vision_opencv.git && \
 git clone --depth 1 -b humble https://github.com/ros-perception/image_common.git && \
 git clone --depth 1 -b humble https://github.com/ros-perception/image_transport_plugins.git && \
diff --git a/docs/setup.md b/docs/setup.md
index a6534af..6a8487a 100644
--- a/docs/setup.md
+++ b/docs/setup.md
@@ -298,6 +298,29 @@ For example, you can check the PX4 vehicle status with
 ros2 topic echo /fmu/out/vehicle_status_v1
 ```
 
+You can also try the `sensor_combined_listener` node from the [px4_ros_com](https://github.com/PX4/px4_ros_com) package and get a user friendly visualization of PX4 accelerometer and gyroscope data:
+
+```sh
+ros2 run px4_ros_com sensor_combined_listener --ros-args -p use_sim_time:=true
+```
+
+It will output something like:
+
+```sh
+RECEIVED SENSOR COMBINED DATA
+=============================
+ts: 93380000
+gyro_rad[0]: -0.000287732
+gyro_rad[1]: -0.000181083
+gyro_rad[2]: -0.00105683
+gyro_integral_dt: 4000
+accelerometer_timestamp_relative: 0
+accelerometer_m_s2[0]: -0.00764366
+accelerometer_m_s2[1]: 6.15756e-05
+accelerometer_m_s2[2]: -9.79929
+accelerometer_integral_dt: 4000
+```
+
 ### Foxglove visualization
 
 You can use the [px4_tf](../px4_roscon_25/px4_tf/README.md) packages, in conjunction with `foxglove_bridge` to visualize in 3D the drone `base_link`.