clearpathrobotics · jmastrangelo-cpr · Mar 19, 2026 · Mar 19, 2026 · Mar 19, 2026 · Mar 19, 2026
@@ -147,32 +147,27 @@ and orientation.
 2.  Start by manually driving the UGV to the dock target and align it as
     straight and centered as possible so that it begins charging. 
 
-3.  Let the UGV sit in this position for 2 minutes to acquire an RTK GPS
-    fix. The POS (position), DIR (heading), and FUS (sensor fusion) GPS status indicators on
-    the UI should be green: <img src="/img/outdoornav_images/ui_status_indicators-2_0_0.png" width="75px" />.
+3.  On the left side of the UI, select the Edit mode button (pencil icon) and then select the Docks option.
 
-    :::note
-
-    If the GPS status indicators are yellow or red, the selected
-    location of the dock is NOT appropriate. Please change the dock
-    location such that the GPS antennas have a clearer visibility.
+4.  Click anywhere on the map to create a dock. Name it and select the default configuration.
 
-    :::
+5.  Click and drag the dock to the location of the robot icon and align its position and orientation.
+    To rotate the dock, hold the `Ctrl` button and use the cursor to orient the dock (the arrow on the
+    dock should be used as a guide).
 
-4.  On the UI, **Menu** &srarr; **SETTINGS** &srarr; **Add New Dock Location**.
-    The dock location will be stored in 5 - 10 seconds as data is collected.
+6.  On the left side of the UI, select the Edit mode button and then select the cursor option.
 
-If the Base Station has been moved (and therefore been resurveyed), or
-if the dock has been moved to a new location, the user will need to
-reset the location of the dock. This is done in the following manner:
+7.  With the remote controller, drive the robot at low speed purely in reverse so the robot icon on the 
+    UI lines up with the green dot on the UI (ie. the predock point).
+
+8.  Right click the dock and select `Survey` in the list of option.
 
-1.  Repeat the previous set of instructions from step 1 to 4.
+9.  The docks position/orientation will be updated in 10 seconds. You should see the dock snap to its new pose.
 
-2.  While in **Edit Mode** select the dock on the UI. A drop down should appear
-    with the option to reset the dock location. Select that option.
 
-3.  After approximately 5 - 10 seconds the dock location should be updated and the UI will
-    reflect the change accordingly.
+If the Base Station has been moved (and therefore been resurveyed), or
+if the dock has been moved to a new location, the user will need to
+repeat the above steps to set the location of the dock.
 
 ## Create Your First Map
 

@@ -206,7 +206,7 @@ the UGV cannot reach.**
 
 <center>
   <figure>
-    <img src="/img/outdoornav_images/ui_goalpoint_panel.png" />
+    <img src="/img/outdoornav_images/ui_goalpoint_panel_2.png" />
     <figcaption>Goalpoint Panel</figcaption>
   </figure>
 </center>
@@ -215,22 +215,14 @@ Enable the "Goalpoint Panel" toggle to open the list of available Goalpoints
 within the selected Mission as shown in the figure above. The Operator can
 now rearrange the list, add Tasks to the Goalpoints, and modify the final heading
 and/or tolerance of each Goalpoint. The Operator can also modify mission properties such
-as the mission name, a return to dock threshold, and apply Tasks to when the Mission starts and stops.
+as the mission name, and apply Tasks to when the Mission starts and stops.
 
 ### Rename Mission
 
 To rename the Mission click the Mission name as it appears in the upper left
 hand corner. This should change the text into an input box that can then be
 modified. Press enter/click aside to save the change.
 
-### Return to Dock
-
-An Operator may wish to add a flag to the mission to indicate when and if the UGV should
-return to the dock while executing the mission. When enabled, the Operator can input a
-battery percentage that once reached the UGV will begin navigating back to the specified
-dock or to the closest dock. They can then set the minimum battery life before the UGV
-is expected to resume the mission.
-
 ### Mission Tasks
 
 A Mission can have Tasks assigned to when it starts and when it stops. These

@@ -147,32 +147,27 @@ and orientation.
 2.  Start by manually driving the UGV to the dock target and align it as
     straight and centered as possible so that it begins charging. 
 
-3.  Let the UGV sit in this position for 2 minutes to acquire an RTK GPS
-    fix. The POS (position), DIR (heading), and FUS (sensor fusion) GPS status indicators on
-    the UI should be green: <img src="/img/outdoornav_images/ui_status_indicators-2_0_0.png" width="75px" />.
+3.  On the left side of the UI, select the Edit mode button (pencil icon) and then select the Docks option.
 
-    :::note
-
-    If the GPS status indicators are yellow or red, the selected
-    location of the dock is NOT appropriate. Please change the dock
-    location such that the GPS antennas have a clearer visibility.
+4.  Click anywhere on the map to create a dock. Name it and select the default configuration.
 
-    :::
+5.  Click and drag the dock to the location of the robot icon and align its position and orientation.
+    To rotate the dock, hold the `Ctrl` button and use the cursor to orient the dock (the arrow on the
+    dock should be used as a guide).
 
-4.  On the UI, **Menu** &srarr; **SETTINGS** &srarr; **Add New Dock Location**.
-    The dock location will be stored in 5 - 10 seconds as data is collected.
+6.  On the left side of the UI, select the Edit mode button and then select the cursor option.
 
-If the Base Station has been moved (and therefore been resurveyed), or
-if the dock has been moved to a new location, the user will need to
-reset the location of the dock. This is done in the following manner:
+7.  With the remote controller, drive the robot at low speed purely in reverse so the robot icon on the 
+    UI lines up with the green dot on the UI (ie. the predock point).
+
+8.  Right click the dock and select `Survey` in the list of option.
 
-1.  Repeat the previous set of instructions from step 1 to 4.
+9.  The docks position/orientation will be updated in 10 seconds. You should see the dock snap to its new pose.
 
-2.  While in **Edit Mode** select the dock on the UI. A drop down should appear
-    with the option to reset the dock location. Select that option.
 
-3.  After approximately 5 - 10 seconds the dock location should be updated and the UI will
-    reflect the change accordingly.
+If the Base Station has been moved (and therefore been resurveyed), or
+if the dock has been moved to a new location, the user will need to
+repeat the above steps to set the location of the dock.
 
 ## Create Your First Map
 

@@ -206,7 +206,7 @@ the UGV cannot reach.**
 
 <center>
   <figure>
-    <img src="/img/outdoornav_images/ui_goalpoint_panel.png" />
+    <img src="/img/outdoornav_images/ui_goalpoint_panel_2.png" />
     <figcaption>Goalpoint Panel</figcaption>
   </figure>
 </center>
@@ -215,22 +215,14 @@ Enable the "Goalpoint Panel" toggle to open the list of available Goalpoints
 within the selected Mission as shown in the figure above. The Operator can
 now rearrange the list, add Tasks to the Goalpoints, and modify the final heading
 and/or tolerance of each Goalpoint. The Operator can also modify mission properties such
-as the mission name, a return to dock threshold, and apply Tasks to when the Mission starts and stops.
+as the mission name, and apply Tasks to when the Mission starts and stops.
 
 ### Rename Mission
 
 To rename the Mission click the Mission name as it appears in the upper left
 hand corner. This should change the text into an input box that can then be
 modified. Press enter/click aside to save the change.
 
-### Return to Dock
-
-An Operator may wish to add a flag to the mission to indicate when and if the UGV should
-return to the dock while executing the mission. When enabled, the Operator can input a
-battery percentage that once reached the UGV will begin navigating back to the specified
-dock or to the closest dock. They can then set the minimum battery life before the UGV
-is expected to resume the mission.
-
 ### Mission Tasks
 
 A Mission can have Tasks assigned to when it starts and when it stops. These

@@ -147,32 +147,27 @@ and orientation.
 2.  Start by manually driving the UGV to the dock target and align it as
     straight and centered as possible so that it begins charging. 
 
-3.  Let the UGV sit in this position for 2 minutes to acquire an RTK GPS
-    fix. The POS (position), DIR (heading), and FUS (sensor fusion) GPS status indicators on
-    the UI should be green: <img src="/img/outdoornav_images/ui_status_indicators-2_0_0.png" width="75px" />.
+3.  On the left side of the UI, select the Edit mode button (pencil icon) and then select the Docks option.
 
-    :::note
-
-    If the GPS status indicators are yellow or red, the selected
-    location of the dock is NOT appropriate. Please change the dock
-    location such that the GPS antennas have a clearer visibility.
+4.  Click anywhere on the map to create a dock. Name it and select the default configuration.
 
-    :::
+5.  Click and drag the dock to the location of the robot icon and align its position and orientation.
+    To rotate the dock, hold the `Ctrl` button and use the cursor to orient the dock (the arrow on the
+    dock should be used as a guide).
 
-4.  On the UI, **Menu** &srarr; **SETTINGS** &srarr; **Add New Dock Location**.
-    The dock location will be stored in 5 - 10 seconds as data is collected.
+6.  On the left side of the UI, select the Edit mode button and then select the cursor option.
 
-If the Base Station has been moved (and therefore been resurveyed), or
-if the dock has been moved to a new location, the user will need to
-reset the location of the dock. This is done in the following manner:
+7.  With the remote controller, drive the robot at low speed purely in reverse so the robot icon on the 
+    UI lines up with the green dot on the UI (ie. the predock point).
+
+8.  Right click the dock and select `Survey` in the list of option.
 
-1.  Repeat the previous set of instructions from step 1 to 4.
+9.  The docks position/orientation will be updated in 10 seconds. You should see the dock snap to its new pose.
 
-2.  While in **Edit Mode** select the dock on the UI. A drop down should appear
-    with the option to reset the dock location. Select that option.
 
-3.  After approximately 5 - 10 seconds the dock location should be updated and the UI will
-    reflect the change accordingly.
+If the Base Station has been moved (and therefore been resurveyed), or
+if the dock has been moved to a new location, the user will need to
+repeat the above steps to set the location of the dock.
 
 ## Create Your First Map
 

@@ -206,7 +206,7 @@ the UGV cannot reach.**
 
 <center>
   <figure>
-    <img src="/img/outdoornav_images/ui_goalpoint_panel.png" />
+    <img src="/img/outdoornav_images/ui_goalpoint_panel_2.png" />
     <figcaption>Goalpoint Panel</figcaption>
   </figure>
 </center>
@@ -215,22 +215,14 @@ Enable the "Goalpoint Panel" toggle to open the list of available Goalpoints
 within the selected Mission as shown in the figure above. The Operator can
 now rearrange the list, add Tasks to the Goalpoints, and modify the final heading
 and/or tolerance of each Goalpoint. The Operator can also modify mission properties such
-as the mission name, a return to dock threshold, and apply Tasks to when the Mission starts and stops.
+as the mission name, and apply Tasks to when the Mission starts and stops.
 
 ### Rename Mission
 
 To rename the Mission click the Mission name as it appears in the upper left
 hand corner. This should change the text into an input box that can then be
 modified. Press enter/click aside to save the change.
 
-### Return to Dock
-
-An Operator may wish to add a flag to the mission to indicate when and if the UGV should
-return to the dock while executing the mission. When enabled, the Operator can input a
-battery percentage that once reached the UGV will begin navigating back to the specified
-dock or to the closest dock. They can then set the minimum battery life before the UGV
-is expected to resume the mission.
-
 ### Mission Tasks
 
 A Mission can have Tasks assigned to when it starts and when it stops. These