diff --git a/doc/Images/GoalPoseBehaviour.png b/doc/Images/GoalPoseBehaviour.png
new file mode 100644
index 00000000..52798c3f
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diff --git a/doc/UserGuide/PoseControl.md b/doc/UserGuide/PoseControl.md
index 2eac60ae..f1546e2c 100644
--- a/doc/UserGuide/PoseControl.md
+++ b/doc/UserGuide/PoseControl.md
@@ -1,11 +1,10 @@
 # Pose control
 
-You can use the `ROS2PoseControl` component to control the robot or any arbitrary entity via ROS 2 position or tf messages.
+You can use the `ROS2PoseControl` component to control the robot or any arbitrary entity via ROS 2 position or tf2 messages.
 
 ## Adding component
 The ROS2PoseControl can be attached to the entity you wish to control. 
-If you would like to have collisions with a controlled robot, you can add a Rigid Body Component.
-If so, set its mode to Kinematic.
+This component will automatically disable physics component of controlled object and all it's children. 
 
 ## Configuration
 
@@ -13,25 +12,63 @@ After adding the component, you should see a window like this:
 
 ![Pose control UI](../Images/PoseControlUI.png)
 
-You can use this component in the following modes:
-
-1. Using `PoseStamped` messages - the component listens to the selected topic of type [`geometry_msgs::PoseStamped`](https://docs.ros2.org/latest/api/geometry_msgs/msg/PoseStamped.html) and changes transform of the entity based on Pose received. The timestamp of the `PoseStamped` message is ignored and position is applied based on message arrival order.
-
-2. Using the [tf2](https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html) messages - the component will look for the transform frame specified by you and use it to transform the entity.
+Firstly you will need to enable tracking and select the tacking mode.
 
 Option | Description
 --------| -----
 Is Tracking | Turns this component on/off 
 Tracking Mode | Select the tracking mode
-Topic for goal message | Standard topic configuration (only used in mode PoseMessages)
+
+You can select one of two tracking modes, and in later sections additional configuration options are described.
+
+### TF2
+
+In this mode component will listen to [tf2](https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html) messages and will set pose of the controlled object to the transform between specified target and reference frame.
+
+Option | Description
+--------| -----
+Reference Frame | Frame of the origin 
 Target Frame | Frame of the tractor (only used in mode TF2)
-Reference Frame | Frame of the origin (only used in mode TF2)
-Lock Z Axis | The Z axis will point up, preventing tilting
+
+### Goal Pose
+
+Option | Description
+--------| -----
+Reference Frame  | Frame of the origin 
+Topic for goal message | Standard topic configuration (only used in mode PoseMessages)
+
+In this mode component will listen to [`geometry_msgs::PoseStamped`](https://docs.ros2.org/latest/api/geometry_msgs/msg/PoseStamped.html) then it will resolve requests described in those messages in one of 4 ways as described in diagram bellow.
+![Goal pose behavior](../Images/GoalPoseBehaviour.png)
+
+**Important** For mode where transformation between Reference frame and provided frame is computed [tf2](https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html) describing such transformation must be published before.
+
+### Start Offset Tag
+
+Option | Description
+--------| -----
 Start Offset Tag | If specified, the robot will controlled with the offset of the tagged entity
+
+If this is set, then on the scene there should be exactly one object that has that tag. Then transform of this offset will be used as an origin for all transform. It is recommended to put object with Start Offset Tag at the location corresponding to the location of Reference frame in the simulation. If not set default world origin will be used.
+
+### Lock Z Axis
+
+Option | Description
+--------| -----
+Lock Z Axis | The Z axis will point up, preventing tilting
+
+If enabled rotation of the controlled object will be always such that it's Z axis will point up. This will prevent tilting and excessive shaking if the data used to control is noisy. 
+
+### Clamping to ground
+
+Option | Description
+--------| -----
 Clamp to ground | The controlled entity will follow the collider under the robot.
 Ground offset | The offset to the collider is applied when the `Clamp to ground` option is used.
 
 
-## ImGui live options
+This setting if enabled will force object to be always specified ground offset above the ground. This can be useful if the data was recorded on the slope and the simulation is on flat terrain or if data contains large drift in Z axis. 
+
+
+## ImGui live options (for developers)
 
 Using the ~ key, you can pull up ImGui options. There, you will see two toggles using which you can modify the `Is Tracking` and `Tracking mode` settings live.
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diff --git a/readme.md b/readme.md
index 9bcd7acd..9eb2edae 100644
--- a/readme.md
+++ b/readme.md
@@ -51,4 +51,8 @@ TBD
 
 # SensorDebug
 
-A tool that allows to adjust frequency, activate and deactive sensor during game mode.
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+A tool that allows to adjust frequency, activate and deactive sensor during game mode.
+
+# ROS2PoseControl
+
+This gem introduces a component that allows for control for the pose of the objects using ROS2 messages. For detail documentation look [here](./doc/UserGuide/PoseControl.md).
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