From 2a760057fa7ea034071771dd3b438f6ade759b1f Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Date: Tue, 2 Sep 2025 16:12:22 -0400
Subject: [PATCH 1/4] Note that the charger sensor must also be added to enable
the ROS driver
---
.../ros/config/yaml/platform/attachments/a300.mdx | 2 ++
1 file changed, 2 insertions(+)
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx
index fe9f75ff..12c6cc8f 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx
@@ -38,6 +38,8 @@ The **PACS** top is physically identical to the **default** plate, but adds PACS
## Wireless Charger
+
+In order to enable the ROS driver for the wireless charger, you must also add a [charger sensor](../../sensors/charger).
## AMP Attachments
From 47e059243aa52b2eecdf6eb88b63a206bd12260b Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Date: Tue, 2 Sep 2025 16:19:12 -0400
Subject: [PATCH 2/4] Add a note that the charger sensor doesn't modify the
URDF.
---
.../version-ros2jazzy/ros/config/yaml/sensors/charger.mdx | 2 ++
1 file changed, 2 insertions(+)
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx
index 5a41e1fb..184def4a 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx
@@ -9,6 +9,8 @@ import Wiferion from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sen
Wireless battery chargers are necessary attachments for a fully autonomous, self docking robot platform. These devices incorporate sensors that determine the quality of the charging position and orientation, status of the charging coil, and status of the stationary unit.
+Note that adding the charger sensor does not modify the URDF to add the charging coil itself. To add the charging coil to the URDF, use the [`platform/extras`](../platform/extras#urdf-extras) to add a custom mesh, or use a supported `attachment`, such as the [`A300 wireless charger`](../platform/attachments/a300#wireless-charger).
+
## Supported Chargers
### Wiferion Wireless Charger
From 91fe58a1c27abde98a12b0267be6212d61389230 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Date: Tue, 2 Sep 2025 16:35:45 -0400
Subject: [PATCH 3/4] Move the note about adding the sensor into a note tag
---
.../ros/config/yaml/platform/attachments/a300.mdx | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx
index 12c6cc8f..b6783442 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/platform/attachments/a300.mdx
@@ -37,9 +37,14 @@ The **PACS** top is physically identical to the **default** plate, but adds PACS
## Wireless Charger
+:::note
+
+In order to enable the ROS driver for the wireless charger, you must also add a [charger sensor](../../sensors/charger).
+
+:::
+
-In order to enable the ROS driver for the wireless charger, you must also add a [charger sensor](../../sensors/charger).
## AMP Attachments
From 3fb5eeb1b436c6a3d62792096ba7e9b4920066ef Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Date: Tue, 2 Sep 2025 16:36:48 -0400
Subject: [PATCH 4/4] Move the note about adding the URDF into a note tag,
remove unnecessary code tag
---
.../version-ros2jazzy/ros/config/yaml/sensors/charger.mdx | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx
index 184def4a..48d386a4 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/charger.mdx
@@ -9,7 +9,11 @@ import Wiferion from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sen
Wireless battery chargers are necessary attachments for a fully autonomous, self docking robot platform. These devices incorporate sensors that determine the quality of the charging position and orientation, status of the charging coil, and status of the stationary unit.
-Note that adding the charger sensor does not modify the URDF to add the charging coil itself. To add the charging coil to the URDF, use the [`platform/extras`](../platform/extras#urdf-extras) to add a custom mesh, or use a supported `attachment`, such as the [`A300 wireless charger`](../platform/attachments/a300#wireless-charger).
+:::note
+
+Adding the charger sensor does not modify the URDF to add the charging coil itself. To add the charging coil to the URDF, use the [`platform/extras`](../platform/extras#urdf-extras) to add a custom mesh, or use a supported `attachment`, such as the [A300 wireless charger](../platform/attachments/a300#wireless-charger).
+
+:::
## Supported Chargers