diff --git a/pose_broadcaster/doc/userdoc.rst b/pose_broadcaster/doc/userdoc.rst
index b7f3901a56..0ae40e2fad 100644
--- a/pose_broadcaster/doc/userdoc.rst
+++ b/pose_broadcaster/doc/userdoc.rst
@@ -5,7 +5,7 @@
 Pose Broadcaster
 --------------------------------
 Broadcaster for poses measured by a robot or a sensor.
-The published message type is ``geometry_msgs/msg/PoseStamped``.
+Poses are published as ``geometry_msgs/msg/PoseStamped`` messages and optionally as tf transforms.
 
 The controller is a wrapper around the ``PoseSensor`` semantic component (see ``controller_interface`` package).
 
diff --git a/pose_broadcaster/pose_broadcaster.xml b/pose_broadcaster/pose_broadcaster.xml
index 022254635e..6578958004 100644
--- a/pose_broadcaster/pose_broadcaster.xml
+++ b/pose_broadcaster/pose_broadcaster.xml
@@ -3,7 +3,7 @@
          type="pose_broadcaster::PoseBroadcaster"
          base_class_type="controller_interface::ControllerInterface">
     <description>
-      This controller publishes a Cartesian state as a geometry_msgs/PoseStamped message.
+      This controller publishes a Cartesian state as a geometry_msgs/PoseStamped message and optionally as a tf transform.
     </description>
   </class>
 </library>