Made PR suggested changes.

astrobee/config/communications/dds_ground_bridge/NDDS_DISCOVERY_PEERS

@@ -1,17 +1,13 @@
 ;; NDDS_DISCOVERY_PEERS - Default Discovery Configuration File
-;;Multicast builtin.udpv4://239.255.0.1 ; default discovery multicast addr
+; This basic default configuration limits DDS discovery to peers running on
+; the same host.
+; For actual space-to-ground usage on the ISS, you will need to add the
+; IP address of the relay host. Please reach out to your Astrobee POC
+; for this information.
 ; EVERY LINE IN THIS FILE MUST END IN A COMMENT. Even blank lines.
 ;
-;; Shared Memory
-;shmem://                ; All 'shmem' transport plugin(s)
-;builtin.shmem://        ; The builtin builtin 'shmem' transport plugin
-                         ;  at network address FCC0::0
+127.0.0.1              ; Local host is added by default
 ;
-;; Unicast
-;
-;; Localhost
-127.0.0.1              ; A comma can be used a separator
-;
-;; Granite Lab - P4
-;
-;; Custom entries below this line (Vagrant, etc)
+; You'll want to uncomment the next line and substitute the actual relay host
+; IP here; check with your Astrobee POC to get it
+; 10.0.0.1 ; Relay host IP 

astrobee/config/communications/ground_dds_ros_bridge.config

@@ -25,7 +25,9 @@
 -- Robot we are receiving data from
 connecting_robot = "Bumble"
 
--- Domain id
+-- Domain id, 37 is the ground domain id.
+-- The domain id to use for each ISS activity is normally discussed at the Test
+-- Readiness Review (TRR).
 domain_id = 37
 
 -- If the namespace needs to be the connecting robot name, please set to true

communications/ground_dds_ros_bridge/readme.md

@@ -70,18 +70,18 @@ ASTROBEE_CONFIG_DIR=$ASTROBEE_WS/src/astrobee/config/ roslaunch ground_dds_ros_b
 # Commanding the Robot
 
 In order to command Astrobee from the ground, you must grab control of the
-robot. Grabbing control of an Astrobee is done in a handshake like manor. First,
-you request control, Astrobee sends a cookie, and then you use that cookie to
-grab control. You can do this either using ros command line tools or creating
-a ros node to do it. The steps are listen to the access control state, issue the
-request control command, extract the cookie out of the access control state, and
-then send the grab control command with the cookie as an argument in the
-command. IMPORTANT, Astrobee uses the command source portion of the command to
-determine who has control. Be sure to set the command source to the same thing
-every time you issue a command or the robot may reject your command. It is also
-helpful to set it to a distinguishing name so that it is clear who is commanding
-the robot. For instance, ISAAC used "ISAACGroundSystem" as the command source.
-The ISAAC team created a node that grabs control of the robot and issues
-commands. If you would like to use it as an example, please see:
+robot. Grabbing control of an Astrobee is done in a handshake like manner.
+First, you request control, Astrobee sends a cookie, and then you use that
+cookie to grab control. You can do this either using ros command line tools or
+creating a ros node to do it. The steps are listen to the access control state,
+issue the request control command, extract the cookie out of the access control 
+state, and then send the grab control command with the cookie as an argument in
+the command. IMPORTANT, Astrobee uses the command source portion of the command
+to determine who has control. Be sure to set the command source to the same
+thing every time you issue a command or the robot may reject your command. It is
+also helpful to set it to a distinguishing name so that it is clear who is
+commanding the robot. For instance, ISAAC used "ISAACGroundSystem" as the
+command source. The ISAAC team created a node that grabs control of the robot
+and issues commands. If you would like to use it as an example, please see:
 
 https://github.com/nasa/isaac/blob/master/communications/ros_gs_bridge/src/ros_gs_bridge.cc