You need to download Promote Systems "USB Teather for LUMIX" using it to capture the image. In Lightroom you will got to your auto import settings, and select the folder that Promote Systems is storing your images in. At that point you will be able to take a photo and it will automatically pop up in Lightroom. It's not a very fast process, but it works.
Here is a link (USB Tether for LUMIX - Promote Systems) to the promote systems website with a demo video on how to do exactly what I explained.