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Well, as we discuss here, there are situations, where you cannot use a Lorentz transformation, where the electromagnetic field has only electric components. In fact that's the case for almost all electromagnetic fields. Only for electrostatics that's the case, i.e., if you can find an inertial frame, where there are only charges at rest at all times. Already in situations, where in one frame there is a stationary current (be it one of moving charges or the equivalent of a magnetized ferromagnet) with vanishing charge density you cannot transform away the magnetic field in any reference frame (magnetostatics). This is clear from my previous argument. If there is a frame of reference, where you have ##\vec{E}=0## and ##\vec{B} \neq 0##, then the invariants ##\vec{E} \cdot \vec{B}=0## and ##\vec{E}^2-\vec{B}^2<0##. This implies that in any frame either ##\vec{E}=0## (which is the one from which we started modulo rotations) or you have both electric and magnetic components, the electric and magnetic fields are perpendicular. But you cannot have ##\vec{B}=0##, because otherwise the latter invariant would have to be positive.
This very simple argument implies that you cannot derive to complete set of Maxwell equations simply from electrostatics and Poincare invariance. You can only make an educated guess, most easily when you have Hamilton's principle for fields at hand, using Poincare invariance, gauge invariance, and invariance under spatial reflections. Of course, this is very much to assume and not suitable for an introductory em. theory lecture. I think, Maxwell's equations cannot be derived but are just the essence of about a century of empirical work by many great physicists, culminating finally in Faraday (who discovered the concept of fields) and Maxwell (who brought everything in a mathematical form).
This very simple argument implies that you cannot derive to complete set of Maxwell equations simply from electrostatics and Poincare invariance. You can only make an educated guess, most easily when you have Hamilton's principle for fields at hand, using Poincare invariance, gauge invariance, and invariance under spatial reflections. Of course, this is very much to assume and not suitable for an introductory em. theory lecture. I think, Maxwell's equations cannot be derived but are just the essence of about a century of empirical work by many great physicists, culminating finally in Faraday (who discovered the concept of fields) and Maxwell (who brought everything in a mathematical form).