diff --git a/dev/source/docs/ros2-interfaces.rst b/dev/source/docs/ros2-interfaces.rst
index 7ee38d5fd4..fa1e163765 100644
--- a/dev/source/docs/ros2-interfaces.rst
+++ b/dev/source/docs/ros2-interfaces.rst
@@ -70,6 +70,11 @@ Pose, Rates, and Coordinates
    <td>This is the filtered AHRS's velocity in the local ENU frame relative to home.</td>
    </tr>
    <tr>
+   <td>ap/pose/filtered</td>
+   <td>geometry_msgs/msg/PoseStamped</td> 
+   <td>This is the filtered AHRS's pose in the local ENU frame relative to home.</td>
+   </tr>
+   <tr>
    <td>ap/geopose/filtered</td>
    <td>geographic_msgs/msg/GeoPoseStamped</td> 
    <td>This is the filtered AHRS's pose (position+orientation) in global coordinates</td>
@@ -191,6 +196,12 @@ For more information on the coordinate systems used, review `ROS REP-105 <https:
    </tbody>
    </table>
 
+.. warning:: 
+   Only the dynamic transformations on ``/ap/tf`` that have parent_frame ``odom`` and child_frame ``base_link`` are fed into ``AP_VisualOdom``. 
+   Other frame configurations will be gracefully ignored, so feel free to populate this topic with other transforms if that's convenient.
+
+For more information on how to setup ArduPilot with an external odometry source, 
+see the :ref:`cartographer SLAM example<ros2-cartographer-slam>.
 
 Configuring Interfaces at Compile Time
 ======================================
@@ -244,6 +255,6 @@ If breaking changes are required, the ArduPilot release notes will make that cle
 Developers should not expect ABI stability on ``exerimental`` interfaces.
 
 Because ArduPilot does not follow the same release timeline as ROS 2, and
-the development team for the ROS interface still in its early stages,
+the development team for the ROS interface is still in its early stages,
 ArduPilot does not yet support a stable ABI across multiple ROS distributions.
 The current ROS version supported is ``humble``.