Update documentations for coordinate frames

docs/FAQ.rst

@@ -24,7 +24,7 @@ This repository contains the source-code for the Up and flying with the AR.Drone
 
 - `tum_simulator <http://wiki.ros.org/tum_simulator>`_
 
-AR Drone simulation in Gazebo, compatible with `ardrone_autonomy`.
+AR Drone simulation in `Gazebo <http://wiki.ros.org/gazebo_ros_pkgs>`_, compatible with `ardrone_autonomy`.
 
 How can I report a bug, submit patches or ask for a feature?
 ------------------------------------------------------------

docs/commands.rst

@@ -24,14 +24,4 @@ Hover Modes
 
 ``geometry_msgs::Twist`` has two other member variables ``angular.x`` and ``angular.y`` which can be used to enable/disable "auto-hover" mode. "auto-hover" is enabled when all six components are set to **zero**. If you want the drone not to enter "auto hover" mode in cases you set the first four components to zero, set `angular.x` and `angular.y` to arbitrary **non-zero** values.
 
-Coordinate Frames
------------------
-
-.. warning::
-    Outdated sections: tf_prefix is deprecated. odom is not mentioned here.
-
-The driver publishes three `TF <http://www.ros.org/wiki/tf>`_ transforms between these frames: ``${tf_prefix}/${base_prefix}_link``, ``${tf_prefix}/${base_prefix}_frontcam`` and ``${tf_prefix}/${base_prefix}_bottomcam``. The ``${tf_prefix}`` is ROS standard way to handle multi-robot `tf` trees and can be set using `tf_prefix` parameters, by default it is empty. The `${base_link}` is the shared name prefix of all three reference frames and can also be set using parameters, by default it has the value of `ardrone_base`. Using default parameters, the three frames would be: `ardrone_base_link`, `ardrone_base_frontcam` and `ardrone_base_bottomcam`.
-
-The `frame_id` field in header of all published topics (navdata, imu, cameras) will have the appropriate frame names. All frames are `ROS REP 103 <http://www.ros.org/reps/rep-0103.html>`_ compatible.
-
 

docs/frames.rst

@@ -0,0 +1,9 @@
+=================
+Coordinate frames
+=================
+
+The driver publishes three `TF <http://www.ros.org/wiki/tf>`_ transforms between these frames: ``odom``, ``${base_prefix}_link``, ``${base_prefix}_frontcam`` and ``${tf_prefix}/${base_prefix}_bottomcam``. The `${base_link}` is the shared name prefix of all three reference frames and can also be set using :doc:`parameters`, by default it has the value of `ardrone_base`.
+
+.. image:: images/frames.jpg
+
+The `frame_id` field in header of all published topics (navdata, imu, cameras) will have the appropriate frame names. All frames are `ROS REP 103 <http://www.ros.org/reps/rep-0103.html>`_ compatible.

docs/index.rst

@@ -67,7 +67,8 @@ Table of Contents
     installation
     usage
     reading
-    commands
+    frames
+    commands    
     services
     parameters
     license

docs/reading.rst

@@ -74,7 +74,9 @@ The normalized magnetometer readings are published to ``ardrone/mag`` topic as a
 Odometry data
 -------------
 
-Since v. `1.4`, the driver calculates and publishes Odometry data by integrating velocity estimates reported by the drone (which is based on optical flow). The data is published as `nav_msgs/Odometry <http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html>`_ messages to ``ardrone/odometry`` topic. The corresponding `TF` transform is also published as `odom -> base` transformation.
+.. versionadded:: 1.4
+
+The driver calculates and publishes Odometry data by integrating velocity estimates reported by the drone (which is based on optical flow). The data is published as `nav_msgs/Odometry <http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html>`_ messages to ``ardrone/odometry`` topic. The corresponding `TF` transform is also published as `odom -> base` transformation.
 
 Selective Navdata (advanced)
 ----------------------------