update comments, close #2

Makefile

@@ -8,11 +8,12 @@ build/ros2aria/ros2aria: $(SOURCES) $(HEADERS)
 
 build: build/ros2aria/ros2aria
 
-.uploaded: build/ros2aria/ros2aria
+# .uploaded: build/ros2aria/ros2aria
+upload:
 	rsync -r  . lab1_5@pionier6:~/ros2aria
 	touch .uploaded
 
-upload: .uploaded
+# upload: .uploaded
 
 run: upload
 	ssh lab1_5@pionier6 -t -- docker run --rm --network=host -it --device /dev/ttyS0 -v /home/lab1_5:/ws irth7/ros2aria-dev /bin/bash /ws/ros2aria/run.sh

src/ros2aria/src/ros2aria.cpp

@@ -22,7 +22,7 @@ Ros2Aria::Ros2Aria()
 
     wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("wheels", 1000);
 
-    battery_recharge_state_pub_ = this->create_publisher<std_msgs::msg::Int8>("battery_recharge_state", 10); // TODO: original rosaria latches this - what does that mean and how does it relate to ros2?
+    battery_recharge_state_pub_ = this->create_publisher<std_msgs::msg::Int8>("battery_recharge_state", 10);
     battery_state_of_charge_pub_ = this->create_publisher<std_msgs::msg::Float32>("battery_state_of_charge", 10);
     robot_info_pub_ = this->create_publisher<ros2aria_msgs::msg::RobotInfoMsg>("robot_info", 10);
 

src/ros2aria/src/state.cpp

@@ -31,7 +31,9 @@ void Ros2Aria::publishState(rclcpp::Time stamp)
         robot_info_msg.twist.linear.x = r->getVel() / 1000;
         robot_info_msg.twist.linear.y = r->getLatVel() / 1000.0;
         robot_info_msg.twist.angular.z = r->getRotVel() * M_PI / 180;
-        // TODO: actually keep track of robot state
+
+        // TODO: actually keep track of robot state (true -> unlocked, false ->
+        // locked). This requires safety plugin to be implemented
         robot_info_msg.state.data = true;
         robot_info_msg.clutch.data = r->areMotorsEnabled();
         // TODO: actually look for obstacles