diff --git a/_sources/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst.txt b/_sources/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst.txt
index 0cdc8150f..426b5b651 100644
--- a/_sources/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst.txt
+++ b/_sources/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst.txt
@@ -20,17 +20,6 @@ Input Ports
Description
The radius (m) in proximity to the viapoint for the BT node to remove from the list as having passed.
-:global_frame:
-
- ====== =======
- Type Default
- ------ -------
- string "map"
- ====== =======
-
- Description
- Reference frame.
-
:robot_base_frame:
====== ===========
diff --git a/_sources/configuration/packages/bt-plugins/conditions/GoalReached.rst.txt b/_sources/configuration/packages/bt-plugins/conditions/GoalReached.rst.txt
index 7402951ae..3fea84401 100644
--- a/_sources/configuration/packages/bt-plugins/conditions/GoalReached.rst.txt
+++ b/_sources/configuration/packages/bt-plugins/conditions/GoalReached.rst.txt
@@ -48,17 +48,7 @@ Input Ports
Description
Destination to check. Takes in a blackboard variable, e.g. "{goal}".
-
-:global_frame:
-
- ====== =======
- Type Default
- ------ -------
- string "map"
- ====== =======
-
- Description
- Reference frame.
+ The global reference frame is taken from the goal's header `frame_id` field.
:robot_base_frame:
@@ -76,4 +66,4 @@ Example
.. code-block:: xml
-
Type |
-Default |
-
string |
-“map” |
-
Reference frame.
-