Includefurther details in the comments.

example_11.md

@@ -93,7 +93,7 @@ class PointCloudTransformer:
         :param self: The self reference.
         :param msg: The PointCloud message.
 
-        :returns new_cloud: PointCloud message.
+        :returns new_cloud: The transformed PointCloud message.
         """
         while not rospy.is_shutdown():
             try:

example_12.md

@@ -148,7 +148,7 @@ class LocateArUcoTag(hm.HelloNode):
         :param self: The self reference.
         :param tag_name: A string value of the ArUco marker name.
 
-        :returns transform: A TransformStamped message type.
+        :returns transform: The docking station's TransformStamped message.
         """
         pan_command = {'joint': 'joint_head_pan', 'position': self.min_pan_position}
         self.send_command(pan_command)
@@ -325,7 +325,7 @@ def find_tag(self, tag_name='docking_station'):
     :param self: The self reference.
     :param tag_name: A string value of the ArUco marker name.
 
-    :returns transform: A TransformStamped message type.
+    :returns transform: The docking station's TransformStamped message.
     """
     pan_command = {'joint': 'joint_head_pan', 'position': self.min_pan_position}
     self.send_command(pan_command)

example_9.md

@@ -98,16 +98,17 @@ class GetVoiceCommands:
 
     def callback_direction(self, msg):
         """
-        A callback function that converts the sound direction from degrees to radians.
+        A callback function that converts the incoming message, sound direction,
+        from degrees to radians.
         :param self: The self reference.
-        :param msg: The Int32 message type.
+        :param msg: The Int32 message type that represents the sound direction.
         """
         self.sound_direction = msg.data * -self.rad_per_deg
 
     def callback_speech(self,msg):
         """
-        A callback function that takes all items in the iterable list and join
-        them into a single string.
+        A callback function takes the incoming message, a list of the speech to
+        text, and joins all items in that iterable list into a single string.
         :param self: The self reference.
         :param msg: The SpeechRecognitionCandidates message type.
         """
@@ -119,7 +120,7 @@ class GetVoiceCommands:
         base motion.
         :param self:The self reference.
 
-        :returns inc: A dictionary type.
+        :returns inc: A dictionary type the contains the increment size.
         """
         if self.step_size == 'small':
             inc = {'rad': self.small_rad, 'translate': self.small_translate}
@@ -159,7 +160,7 @@ class GetVoiceCommands:
         A function that defines the teleoperation command based on the voice command.
         :param self: The self reference.
 
-        :returns command: A dictionary type.
+        :returns command: A dictionary type that contains the type of base motion.
         """
         command = None
         if self.voice_command == 'forward':
@@ -192,6 +193,7 @@ class VoiceTeleopNode(hm.HelloNode):
         """
         A function that declares object from the GetVoiceCommands class, instantiates
         the HelloNode class, and set the publishing rate.
+        :param self: The self reference.
         """
         hm.HelloNode.__init__(self)
         self.rate = 10.0
@@ -370,6 +372,7 @@ class VoiceTeleopNode(hm.HelloNode):
         """
         A function that declares object from the GetVoiceCommands class, instantiates
         the HelloNode class, and set the publishing rate.
+        :param self: The self reference.
         """
         hm.HelloNode.__init__(self)
         self.rate = 10.0

src/aruco_tag_locator.py

@@ -65,7 +65,6 @@ class LocateArUcoTag(hm.HelloNode):
         # Define the head actuation rotational velocity
         self.rot_vel = 0.5 # radians per sec
 
-
     def joint_states_callback(self, msg):
         """
         A callback function that stores Stretch's joint states.
@@ -74,7 +73,6 @@ class LocateArUcoTag(hm.HelloNode):
         """
         self.joint_state = msg
 
-
     def send_command(self, command):
         '''
         Handles single joint control commands by constructing a FollowJointTrajectoryGoal
@@ -125,7 +123,6 @@ class LocateArUcoTag(hm.HelloNode):
             self.trajectory_client.send_goal(trajectory_goal)
             self.trajectory_client.wait_for_result()
 
-
     def find_tag(self, tag_name='docking_station'):
         """
         A function that actuates the camera to search for a defined ArUco tag
@@ -133,7 +130,7 @@ class LocateArUcoTag(hm.HelloNode):
         :param self: The self reference.
         :param tag_name: A string value of the ArUco marker name.
 
-        :returns transform: A TransformStamped message type.
+        :returns transform: The docking station's TransformStamped message.
         """
         # Create dictionaries to get the head in its initial position
         pan_command = {'joint': 'joint_head_pan', 'position': self.min_pan_position}
@@ -177,7 +174,6 @@ class LocateArUcoTag(hm.HelloNode):
         # Notify that the requested tag was not found
         rospy.loginfo("The requested tag '%s' was not found", tag_name)
 
-
     def main(self):
         """
         Function that initiates the issue_command function.
@@ -203,7 +199,6 @@ class LocateArUcoTag(hm.HelloNode):
         # Search for the ArUco marker for the docking station
         pose = self.find_tag("docking_station")
 
-
 if __name__ == '__main__':
     # Use a try-except block
     try:

src/pointcloud_transformer.py

@@ -74,7 +74,7 @@ class PointCloudTransformer:
         :param self: The self reference.
         :param msg: The PointCloud message.
 
-        :returns new_cloud: PointCloud message.
+        :returns new_cloud: The transformed PointCloud message.
         """
         while not rospy.is_shutdown():
             try:

src/voice_teleoperation_base.py

@@ -69,16 +69,17 @@ class GetVoiceCommands:
 
     def callback_direction(self, msg):
         """
-        A callback function that converts the sound direction from degrees to radians.
+        A callback function that converts the incoming message, sound direction,
+        from degrees to radians.
         :param self: The self reference.
-        :param msg: The Int32 message type.
+        :param msg: The Int32 message type that represents the sound direction.
         """
         self.sound_direction = msg.data * -self.rad_per_deg
 
     def callback_speech(self,msg):
         """
-        A callback function that takes all items in the iterable list and join
-        them into a single string.
+        A callback function takes the incoming message, a list of the speech to
+        text, and joins all items in that iterable list into a single string.
         :param self: The self reference.
         :param msg: The SpeechRecognitionCandidates message type.
         """
@@ -90,7 +91,7 @@ class GetVoiceCommands:
         base motion.
         :param self:The self reference.
 
-        :returns inc: A dictionary type.
+        :returns inc: A dictionary type the contains the increment size.
         """
         if self.step_size == 'small':
             inc = {'rad': self.small_rad, 'translate': self.small_translate}
@@ -130,7 +131,7 @@ class GetVoiceCommands:
         A function that defines the teleoperation command based on the voice command.
         :param self: The self reference.
 
-        :returns command: A dictionary type.
+        :returns command: A dictionary type that contains the type of base motion.
         """
         command = None
         # Move base forward command
@@ -181,6 +182,7 @@ class VoiceTeleopNode(hm.HelloNode):
         """
         A function that declares object from the GetVoiceCommands class, instantiates
         the HelloNode class, and set the publishing rate.
+        :param self: The self reference.
         """
         hm.HelloNode.__init__(self)
         self.rate = 10.0
@@ -200,7 +202,7 @@ class VoiceTeleopNode(hm.HelloNode):
         """
         Function that makes an action call and sends base joint trajectory goals.
         :param self: The self reference.
-        :param command: A dictionary type.
+        :param command: A dictionary that contains the base motion type and increment size.
         """
         joint_state = self.joint_state
         # Conditional statement to send  joint trajectory goals