It's fairly straightforward - you need to add ROM data to your project.
First of all, decide whether you want the PDF to just be on the root of the DVD alongside the AUDIO_TS and VIDEO_TS folders. This is untidy, but OK if you only have one file to add. If you want to put it into it's own folder on the DVD (say, 'Additional Content' then you need to follow a slightly different route.
First - assuming you don't want to put it in a folder:
1) make a folder called 'ROMContent' (or whatever you will remember) on your desktop (or wherever is suitable for you). Add the PDF to this folder.
2) In the DVDSP property inspector for the disc main settings (click on the disc icon in the outline view) you'll see a drop down menu for ROM Content. Browse to the folder that you added to your desktop in step 1.
3) That's it. Whatever is inside that folder when you build the disc will get added to the root of the DVD.
Now, if you want to keep things neat and tidy:
1) make a folder called 'ROMContent' (or whatever you will remember) on your desktop (or wherever is suitable for you). Inside this, add a folder called 'Additional Content' and add the PDF to this second folder.
2) In the DVDSP property inspector for the disc main settings (click on the disc icon in the outline view) you'll see a drop down menu for ROM Content. Browse to the ROMContent folder that you added to your desktop in step 1... not the inner folder or the PDF.
3) that's it.
When you build, DVDSP will look in the location you specified and add anything it finds in that location to the root of the DVD. If you have a set of folders inside that 'parent' location, then you'll get a set of folders at the root of the DVD. If you have a load of files in the parent location, then the root of the DVD will get spattered with all of the files... looks very messy!
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lafcpug mod