Update docs

Signed-off-by: Jakub Delicat <[email protected]>

panther_docking/README.md

@@ -31,7 +31,7 @@ The package contains a `PantherChargingDock` plugin for the [opennav_docking](ht
 
 - `fixed_frame` [*string*, default: **odom**]: A fixed frame id of a robot.
 - `<dock_name>.type` [*string*, default: **panther_charging_dock**]: It checks if this dock with name `dock_name` is a type of  `panther_charging_dock`.
-- `<dock_name>.frame` [*string*, default: **main_wibotic_receiver_requested_pose_link** ]: Then look for transformation between `fixed_frame` and `<dock_name>.frame`  to publish `dock_pose`
+- `<dock_name>.frame` [*string*, default: **main_wibotic_receiver_requested_pose_link** ]: Then look for transformation between `fixed_frame` and `<dock_name>.frame`  to publish `dock_pose`.A frame id of a wireless transmitter.
 
 ### PantherChargingDock
 
@@ -45,15 +45,15 @@ The package contains a `PantherChargingDock` plugin for the [opennav_docking](ht
 
 #### Parameters
 
-- `base_frame` [*string*, default: **base_link**]: A base frame id of a robot.
+- `base_frame` [*string*, default: **base_link**]: A fixed frame id of a wireless receiver.
 - `fixed_frame` [*string*, default: **odom**]: A fixed frame id of a robot.
 - `panther_charging_dock.external_detection_timeout` [*double*, default: **0.2**]: A timeout in seconds for looking up a transformation from an april tag of a dock to a base frame id.
 - `panther_charging_dock.docking_distance_threshold` [*double*, default: **0.05**]: A threshold of a distance between a robot pose and a dock pose to declare if docking succeed.
 - `panther_charging_dock.docking_yaw_threshold` [*double*, default: **0.3**]: A threshold of a difference of yaw angles between a robot pose and a dock pose to declare if docking succeed.
 - `panther_charging_dock.staging_x_offset` [*double*, default: **-0.7**]: A staging pose is defined by offsetting a dock pose in axis X.
 - `panther_charging_dock.filter_coef` [*double*, default: **0.1**]: A key parameter that influences the trade-off between the filter's responsiveness and its smoothness, balancing how quickly it reacts to new pose data pose how much it smooths out fluctuations.
 - `panther_charging_dock.use_wibotic_info` [*bool*, default: **True**]: Whether Wibotic information is used.
-- `panther_charging_dock.wibotic_info_timeout` [*double*, default: **1.5**]: A timeout in seconds to receive wibotic_info.
+- `panther_charging_dock.wibotic_info_timeout` [*double*, default: **1.5**]: A timeout in seconds to receive a wibotic_info.
 - `<dock_name>.apriltag_id` [*int*, default: **0**]: AprilTag ID of a dock.
-- `<dock_name>.dock_frame` [*string*, default: **main_wibotic_receiver_requested_pose_link**]: A frame id to compare with fixed frame if docked.
+- `<dock_name>.dock_frame` [*string*, default: **main_wibotic_transmitter_link**]: A frame id to compare with fixed frame if docked.
 - `<dock_name>.pose` [*list*, default: **[0.0, 0.0, 0.0]**]: A pose of a dock on the map. If the simulation is used a dock is spawned in this pose.

panther_docking/config/panther_docking_server.yaml

@@ -7,7 +7,7 @@
     undock_linear_tolerance: 0.19
     undock_angular_tolerance: 0.08
     max_retries: 3
-    base_frame: "<robot_namespace>/wibotic_receiver_link"
+    base_frame: "<robot_namespace>/wibotic_receiver_link" # Distance to the dock is calculated from this frame
     fixed_frame: "<robot_namespace>/odom"
     dock_backwards: false
     dock_prestaging_tolerance: 0.5
@@ -27,14 +27,14 @@
     docks: ["main", "backup"]
     main:
       type: panther_charging_dock
-      frame: <robot_namespace>/odom
+      frame: <robot_namespace>/map
       dock_frame: main_wibotic_transmitter_link
       pose: [1.0, 1.20, 1.57] # [x, y, yaw] of the dock on the map. Used also for spawning dock in the simulation.
       apriltag_id: 0
 
     backup:
       type: panther_charging_dock
-      frame: <robot_namespace>/odom
+      frame: <robot_namespace>/map
       dock_frame: backup_wibotic_transmitter_link
       pose: [-1.0, 1.20, 1.57] # [x, y, yaw] of the dock on the map. Used also for spawning dock in the simulation.
       apriltag_id: 1