From d9402ada148e9d582170bc5600f2ce7182a6563d Mon Sep 17 00:00:00 2001
From: TiaSinghania <samanvita.singhania@gmail.com>
Date: Wed, 25 Dec 2024 13:23:00 -0800
Subject: [PATCH] comment cleanup

---
 rb_ws/src/buggy/buggy/serial/host_comm.py      | 2 --
 rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py | 4 ----
 2 files changed, 6 deletions(-)

diff --git a/rb_ws/src/buggy/buggy/serial/host_comm.py b/rb_ws/src/buggy/buggy/serial/host_comm.py
index e503bd0..766247e 100644
--- a/rb_ws/src/buggy/buggy/serial/host_comm.py
+++ b/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))
 
diff --git a/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py b/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py
index 6d35710..e44bb9c 100644
--- a/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py
+++ b/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)