update file.

README.md

@@ -19,4 +19,4 @@ This repo provides instructions on the installation and use of code on the Stret
 
 1. [Teleoperate Stretch with a Node](example_1.md) - Use a python script that sends velocity commands.  
 2. Mobile Base Collision Avoidance - Stop stretch from running into a wall.
-3. Give Stretch a Balloon - Create a "ballon" marker that goes where ever it goes.
+3. [Give Stretch a Balloon](example_3.md) - Create a "balloon" marker that goes where ever it goes.

rviz_basics.md

@@ -8,7 +8,10 @@ roslaunch stretch_gazebo stretch_willowgarage_world.launch rviz:=true
 the `rviz` flag will open an RViz window  to visualize a variety of ROS topics.
 ![image](images/willowgarage_with_rviz.png)
 
-If you want the visualize the tf transform tree, you can add this to the your display.
+If you want the visualize the [tf transform tree](http://wiki.ros.org/rviz/DisplayTypes/TF), you can add this to the your display. First click on the *Add* button and include the TF to the display. You will then see all of the transform frames of the Stretch robot and the visualization can be toggled off and on by clicking the checkbox next the tree. Below if a gif for reference.
 
 ![image](images/rviz_add_tf.gif)
+
+<!-- Bringup the keyboard teleop to drive Stretch around. You will be able to visualize -->
+
 Further tutorials for RViz can be found [here](http://wiki.ros.org/rviz/Tutorials).