comment cleanup

rb_ws/src/buggy/buggy/serial/host_comm.py

@@ -119,7 +119,6 @@ class NANDRawGPS:
     # 8 bits
     gps_fix: int # uint8
 
-# TODO: make sure this is same as on firmware
 @dataclass
 class Radio:
     nand_east_gps: float
@@ -192,7 +191,6 @@ def send_steering(self, angle: float):
     def send_alarm(self, status: int):
         self.send_packet_raw(MSG_TYPE_ALARM, struct.pack('<B', status))
 
-    # TODO: will time be a float?
     def send_timestamp(self, time: float):
         self.send_packet_raw(MSG_TYPE_SOFTWARE_TIMESTAMP, struct.pack('<d', time))
 

rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py

@@ -49,8 +49,6 @@ def __init__(self, self_name, other_name, teensy_name):
         # upper bound of reading data from Bnyahaj Serial, at 1ms
         self.read_rate = self.create_rate(1000)
 
-        # ISSUE: https://github.com/CMU-Robotics-Club/RoboBuggy2/issues/90
-        # TODO: why are all the topics published under buggy/ ?
         # DEBUG MESSAGE PUBLISHERS:
         self.heading_rate_publisher = self.create_publisher(
             Float64, self_name + "/debug/heading_rate", 1
@@ -90,7 +88,6 @@ def __init__(self, self_name, other_name, teensy_name):
         )
 
         # NAND POSITION PUBLISHERS
-        #TODO: these should be buggy_state publishers, NOT odometry!
         self.nand_ukf_odom_publisher = self.create_publisher(
             Odometry, "NAND/nav/odom", 1
         )
@@ -166,7 +163,6 @@ def reader_thread(self):
             packet = self.comms.read_packet()
             self.get_logger().debug("packet" + str(packet))
 
-            # TODO: do we want to add double checks to make sure the correct buggy is recieveing the packet?
             if isinstance(packet, NANDDebugInfo):
                 self.heading_rate_publisher.publish(packet.heading_rate)
                 self.encoder_angle_publisher.publish(packet.encoder_angle)