Adding more comments

clearpathrobotics · Jan 23, 2025 · 92202ff · 92202ff
1 parent 107d6dd
commit 92202ff
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/clearpath_diagnostics/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp b/clearpath_diagnostics/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp
@@ -66,9 +66,9 @@ class ClearpathDiagnosticUpdater : public rclcpp::Node
   diagnostic_updater::Updater updater_;
   std::map<std::string, std::map<std::string, rclcpp::Parameter>> topic_map_;
 
+  // Lists to ensure all variables relating to the rate monitoring persist until spin
   std::list<double> rates_;
-  std::list<std::shared_ptr<diagnostic_updater::HeaderlessTopicDiagnostic>>
-  topic_diagnostics_;
+  std::list<std::shared_ptr<diagnostic_updater::HeaderlessTopicDiagnostic>> topic_diagnostics_;
   std::list<std::shared_ptr<void>> subscriptions_;
 
   void mcu_callback(const clearpath_platform_msgs::msg::Status & msg);

diff --git a/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp b/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp
@@ -51,6 +51,7 @@ ClearpathDiagnosticUpdater::ClearpathDiagnosticUpdater()
   setup_topic_rate_diagnostics();
 }
 
+// get parameter from yaml and log an error if the parameter is not present
 std::string ClearpathDiagnosticUpdater::get_mandatory_param(std::string param_name)
 {
   try {
@@ -62,6 +63,7 @@ std::string ClearpathDiagnosticUpdater::get_mandatory_param(std::string param_na
   }
 }
 
+// save data from MCU Status messages
 void ClearpathDiagnosticUpdater::mcu_callback(const clearpath_platform_msgs::msg::Status & msg)
 {
   firmware_version_ = msg.firmware_version;
@@ -165,11 +167,11 @@ void ClearpathDiagnosticUpdater::setup_topic_rate_diagnostics()
     }
 
     /*
-    The section below does not use a generic subscription because the generic subscription was
-    observed to have significantly hgiher CPU usage seemingly related to too short of callbacks
-    and allocating / releasing the memory too quickly with Fast DDS. Standard subscriptions
-    perform more reliably.
-    */
+     * The section below does not use a generic subscription because the generic subscription was
+     * observed to have significantly hgiher CPU usage seemingly related to too short of callbacks
+     * and allocating/releasing the memory too quickly with Fast DDS. Standard subscriptions
+     * perform more reliably.
+     */
 
     // Create a subscription using the topic name and message type info from the yaml
     if (type == "sensor_msgs/msg/CompressedImage") {