diff --git a/src/edge_detection.py b/src/edge_detection.py
index 879ab73..91ff1ea 100755
--- a/src/edge_detection.py
+++ b/src/edge_detection.py
@@ -25,7 +25,7 @@ class EdgeDetection:
         parameter values.
         :param self: The self reference.
         """
-        # Initialize the CvBridge class
+        # Instantiate a CvBridge() object
         self.bridge = CvBridge()
 
         # Initialize subscriber
diff --git a/src/effort_sensing.py b/src/effort_sensing.py
index 1b89cf5..bf69b1e 100755
--- a/src/effort_sensing.py
+++ b/src/effort_sensing.py
@@ -8,11 +8,11 @@ import os
 import csv
 
 # Import the FollowJointTrajectoryGoal from the control_msgs.msg package to
-# control the Stretch robot.
+# control the Stretch robot
 from control_msgs.msg import FollowJointTrajectoryGoal
 
 # Import JointTrajectoryPoint from the trajectory_msgs package to define
-# robot trajectories.
+# robot trajectories
 from trajectory_msgs.msg import JointTrajectoryPoint
 
 # We're going to subscribe to a JointState message type, so we need to import
@@ -31,7 +31,7 @@ class JointActuatorEffortSensor(hm.HelloNode):
     """
     def __init__(self, export_data=False):
         """
-        Function that initializes the subscriber,and other features.
+        Function that initializes the subscriber and other features.
         :param self: The self reference.
         :param export_data: A boolean message type.
         """
@@ -53,7 +53,6 @@ class JointActuatorEffortSensor(hm.HelloNode):
         # Create boolean data type for conditional statements if you want to export effort data.
         self.export_data = export_data
 
-
     def callback(self, msg):
         """
         Callback function to update and store JointState messages.
@@ -63,7 +62,6 @@ class JointActuatorEffortSensor(hm.HelloNode):
         # Store the joint messages for later use
         self.joint_states = msg
 
-
     def issue_command(self):
         """
         Function that makes an action call and sends joint trajectory goals
@@ -80,7 +78,7 @@ class JointActuatorEffortSensor(hm.HelloNode):
         point0 = JointTrajectoryPoint()
         point0.positions = [0.9]
 
-        # Set a list to the trajectory_goal.trajectory.points
+        # Set a list to the `trajectory_goal.trajectory.points`
         trajectory_goal.trajectory.points = [point0]
 
         # Specify the coordinate frame that we want (base_link) and set the time to be now.
@@ -93,7 +91,6 @@ class JointActuatorEffortSensor(hm.HelloNode):
         rospy.loginfo('Sent position goal = {0}'.format(trajectory_goal))
         self.trajectory_client.wait_for_result()
 
-
     def feedback_callback(self,feedback):
         """
         The feedback_callback function deals with the incoming feedback messages
@@ -130,7 +127,6 @@ class JointActuatorEffortSensor(hm.HelloNode):
         else:
             self.joint_effort.append(current_effort)
 
-
     def done_callback(self, status, result):
         """
         The done_callback function will be called when the joint action is complete.
@@ -157,7 +153,6 @@ class JointActuatorEffortSensor(hm.HelloNode):
                 writer.writerow(self.joints)
                 writer.writerows(self.joint_effort)
 
-
     def main(self):
         """
         Function that initiates the issue_command function.
@@ -170,7 +165,6 @@ class JointActuatorEffortSensor(hm.HelloNode):
         self.issue_command()
         time.sleep(2)
 
-
 if __name__ == '__main__':
 	try:
     	# Declare object, node, from JointActuatorEffortSensor class
diff --git a/src/joint_state_printer.py b/src/joint_state_printer.py
index 0c55d86..a37535b 100755
--- a/src/joint_state_printer.py
+++ b/src/joint_state_printer.py
@@ -69,7 +69,7 @@ if __name__ == '__main__':
 	# Initialize the node.
 	rospy.init_node('joint_state_printer', anonymous=True)
 
-	# Declare object from JointStatePublisher class
+	# Instantiate a `JointStatePublisher()` object
 	JSP = JointStatePublisher()
 
 	# Use the rospy.sleep() function to allow the class to initialize before
diff --git a/src/marker.py b/src/marker.py
index 3eacc43..742d825 100755
--- a/src/marker.py
+++ b/src/marker.py
@@ -3,7 +3,7 @@
 # Import modules
 import rospy
 
-# Import the Marker message type from the visualization_msgs package.
+# Import the Marker message type from the visualization_msgs package
 from visualization_msgs.msg import Marker
 
 class Balloon():
@@ -18,7 +18,7 @@ class Balloon():
 		# Set up a publisher.  We're going to publish on a topic called balloon
 		self.pub = rospy.Publisher('balloon', Marker, queue_size=10)
 
-		# Create a marker.  Markers of all shapes share a common type.
+		# Create a marker.  Markers of all shapes share a common type
 		self.marker = Marker()
 
 		# Set the frame ID and type.  The frame ID is the frame in which the position of the marker
@@ -61,10 +61,9 @@ class Balloon():
 		# Create log message
 		rospy.loginfo("Publishing the balloon topic. Use RViz to visualize.")
 
-
 	def publish_marker(self):
 		"""
-		Function that publishes the sphere marker
+		Function that publishes the sphere marker.
 		:param self: The self reference.
 
 		:publishes self.marker: Marker message.
@@ -72,12 +71,11 @@ class Balloon():
 		# publisher the marker
 		self.pub.publish(self.marker)
 
-
 if __name__ == '__main__':
 	# Initialize the node, as usual
 	rospy.init_node('marker')
 
-	# Declare object from the Balloon class
+	# Instanstiate a `Balloon()` object
 	balloon = Balloon()
 
 	# Set a rate
diff --git a/src/move.py b/src/move.py
index e49f768..d4b5c4f 100755
--- a/src/move.py
+++ b/src/move.py
@@ -15,11 +15,10 @@ class Move:
 		Function that initializes the publisher.
 		:param self: The self reference
 		"""
-		# Setup a publisher that will send the velocity commands for the Stretch
+		# Setup a publisher that will send the velocity commands to Stretch
 		# This will publish on a topic called "/stretch/cmd_vel" with a message type Twist
 		self.pub = rospy.Publisher('/stretch/cmd_vel', Twist, queue_size=1) #/stretch_diff_drive_controller/cmd_vel for gazebo
 
-
 	def move_forward(self):
 		"""
 		Function that publishes Twist messages
@@ -51,7 +50,7 @@ if __name__ == '__main__':
 	# Initialize the node, and call it "move"
 	rospy.init_node('move')
 
-	# Declare object from Move class
+	# Instanstiate a `Move()` object
 	base_motion = Move()
 
 	# Rate allows us to control the (approximate) rate at which we publish things.
diff --git a/src/multipoint_command.py b/src/multipoint_command.py
index 09ac8df..1a58d4f 100755
--- a/src/multipoint_command.py
+++ b/src/multipoint_command.py
@@ -19,22 +19,24 @@ class MultiPointCommand(hm.HelloNode):
 	"""
 	A class that sends multiple joint trajectory goals to the stretch robot.
 	"""
-
-	# Initialize the inhereted hm.Hellonode class
 	def __init__(self):
+		"""
+		Function that initializes the inhereted hm.HelloNode class.
+		:param self: The self reference.
+		"""
 		hm.HelloNode.__init__(self)
 
 	def issue_multipoint_command(self):
 		"""
 		Function that makes an action call and sends multiple joint trajectory goals
-		to the joint_lift, wrist_extension, and joint_wrist_yaw.
+		for the joint_lift, wrist_extension, and joint_wrist_yaw joints.
 		:param self: The self reference.
 		"""
 		# Set point0 as a JointTrajectoryPoint()
 		point0 = JointTrajectoryPoint()
 
-		# Provide desired positions of lift, wrist extension, and yaw of
-		# the wrist (in meters)
+		# Provide desired positions of lift (m), wrist extension (m), and yaw of
+		# the wrist (radians)
 		point0.positions = [0.2, 0.0, 3.4]
 
 		# Provide desired velocity of the lift (m/s), wrist extension (m/s),
@@ -85,8 +87,6 @@ class MultiPointCommand(hm.HelloNode):
 		rospy.loginfo('Sent list of goals = {0}'.format(trajectory_goal))
 		self.trajectory_client.wait_for_result()
 
-	# Create a funcion, main(), to do all of the setup the hm.HelloNode class
-	# and issue the stow command
 	def main(self):
 		"""
 		Function that initiates the multipoint_command function.
@@ -99,10 +99,9 @@ class MultiPointCommand(hm.HelloNode):
 		self.issue_multipoint_command()
 		time.sleep(2)
 
-
 if __name__ == '__main__':
     try:
-        # Instantiate the MultiPointCommand class and execute the main() method
+        # Instanstiate a `MultiPointCommand()` object and execute the main() method
         node = MultiPointCommand()
         node.main()
     except KeyboardInterrupt:
diff --git a/src/pointcloud_transformer.py b/src/pointcloud_transformer.py
index 6f38056..ac41aba 100755
--- a/src/pointcloud_transformer.py
+++ b/src/pointcloud_transformer.py
@@ -48,7 +48,7 @@ class PointCloudTransformer:
         """
         A function that extracts the points from the stored PointCloud2 message
         and appends those points to a PointCloud message. Then the function transforms
-        the PointCloud from its the header frame id, 'camera_color_optical_frame'
+        the PointCloud from its header frame id, 'camera_color_optical_frame'
         to the 'base_link' frame.
         :param self: The self reference.
         """
@@ -91,7 +91,7 @@ if __name__=="__main__":
     # Initialize the node, and call it "pointcloud_transformer"
     rospy.init_node('pointcloud_transformer',anonymous=True)
 
-    # Declare object, PCT, from the PointCloudTransformer class.
+    # Instanstiate a `PointCloudTransformer()` object
     PCT = PointCloudTransformer()
 
     # We're going to publish information at 1 Hz
@@ -103,6 +103,6 @@ if __name__=="__main__":
     # Run while loop until the node is shutdown
     while not rospy.is_shutdown():
 
-        # Run the pcl_transformer method
+        # Run the `pcl_transformer()` method
         PCT.pcl_transformer()
         rate.sleep()
diff --git a/src/scan_filter.py b/src/scan_filter.py
index a887ab2..c4be4e3 100755
--- a/src/scan_filter.py
+++ b/src/scan_filter.py
@@ -32,7 +32,6 @@ class ScanFilter:
 		# Create log message
 		rospy.loginfo("Publishing the filtered_scan topic. Use RViz to visualize.")
 
-
 	def callback(self,msg):
 		"""
 		Callback function to deal with incoming laserscan messages.
@@ -41,8 +40,8 @@ class ScanFilter:
 
 		:publishes msg: updated laserscan message.
 		"""
-		# Figure out the angles of the scan.  We're going to do this each time, in case we're subscribing to more than one
-		# laser, with different numbers of beams
+		# Figure out the angles of the scan.  We're going to do this each time,
+		# in case we're subscribing to more than one laser, with different numbers of beams
 		angles = linspace(msg.angle_min, msg.angle_max, len(msg.ranges))
 
 		# Work out the y coordinates of the ranges
diff --git a/src/single_joint_actuator.py b/src/single_joint_actuator.py
index 4be36b6..43101db 100755
--- a/src/single_joint_actuator.py
+++ b/src/single_joint_actuator.py
@@ -5,11 +5,11 @@ import rospy
 import time
 
 # Import the FollowJointTrajectoryGoal from the control_msgs.msg package to
-# control the Stretch robot.
+# control the Stretch robot
 from control_msgs.msg import FollowJointTrajectoryGoal
 
 # Import JointTrajectoryPoint from the trajectory_msgs package to define
-# robot trajectories.
+# robot trajectories
 from trajectory_msgs.msg import JointTrajectoryPoint
 
 # Import hello_misc script for handling trajectory goals with an action client
@@ -19,8 +19,11 @@ class SingleJointActuator(hm.HelloNode):
 	"""
 	A class that sends multiple joint trajectory goals to a single joint.
 	"""
-	# Initialize the inhereted hm.Hellonode class
 	def __init__(self):
+		"""
+		Function that initializes the inhereted hm.HelloNode class.
+		:param self: The self reference.
+		"""
 		hm.HelloNode.__init__(self)
 
 	def issue_command(self):
@@ -63,7 +66,7 @@ class SingleJointActuator(hm.HelloNode):
 		# trajectory points
 		trajectory_goal.trajectory.points = [point0]#, point1]
 
-		# Specify the coordinate frame that we want (base_link) and set the time to be now.
+		# Specify the coordinate frame that we want (base_link) and set the time to be now
 		trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
 		trajectory_goal.trajectory.header.frame_id = 'base_link'
 
@@ -85,11 +88,9 @@ class SingleJointActuator(hm.HelloNode):
 		self.issue_command()
 		time.sleep(2)
 
-
 if __name__ == '__main__':
 	try:
-		# Declare object from the SingleJointActuator class. Then execute the
-		# main() method/function
+        # Instanstiate a `SingleJointActuator()` object and execute the main() method
 		node = SingleJointActuator()
 		node.main()
 	except KeyboardInterrupt:
diff --git a/src/speech_text.py b/src/speech_text.py
index 826ad08..4e3614c 100755
--- a/src/speech_text.py
+++ b/src/speech_text.py
@@ -7,7 +7,6 @@ import os
 # Import SpeechRecognitionCandidates from the speech_recognition_msgs package
 from speech_recognition_msgs.msg import SpeechRecognitionCandidates
 
-
 class SpeechText:
     """
     A class that saves the interpreted speech from the ReSpeaker Microphone Array to a text file.
@@ -15,6 +14,7 @@ class SpeechText:
     def __init__(self):
         """
         Initialize subscriber and directory to save speech to text file.
+        :param self: The self reference.
         """
         # Initialize subscriber
         self.sub = rospy.Subscriber("speech_to_text", SpeechRecognitionCandidates, self.callback)
@@ -44,7 +44,6 @@ class SpeechText:
             file_object.write("\n")
             file_object.write(transcript)
 
-
 if __name__ == '__main__':
     # Initialize the node and name it speech_text
     rospy.init_node('speech_text')
diff --git a/src/stored_data_plotter.py b/src/stored_data_plotter.py
index be7d85b..10b9e2c 100755
--- a/src/stored_data_plotter.py
+++ b/src/stored_data_plotter.py
@@ -65,7 +65,6 @@ class Plotter():
                 # Reset y_anim for the next joint effort animation
                 del self.y_anim[:]
 
-
             # Conditional statement for regular plotting (No animation)
             else:
                 self.data[joint].plot(kind='line')
@@ -73,18 +72,17 @@ class Plotter():
                 # plt.savefig(save_path, bbox_inches='tight')
                 plt.show()
 
-
     def plot_animate(self,i):
         """
         Function that plots every increment of the dataframe.
         :param self: The self reference.
         :param i: index value.
         """
-        # Append self.effort values for given joint.
+        # Append self.effort values for given joint
         self.y_anim.append(self.effort.values[i])
         plt.plot(self.y_anim, color='blue')
 
-
 if __name__ == '__main__':
+    # Instanstiate a `Plotter()` object and execute the `plot_data()` method
     viz = Plotter(animate=True)
     viz.plot_data()
diff --git a/src/stow_command.py b/src/stow_command.py
index 379259f..c4835c6 100755
--- a/src/stow_command.py
+++ b/src/stow_command.py
@@ -19,12 +19,13 @@ class StowCommand(hm.HelloNode):
     '''
     A class that sends a joint trajectory goal to stow the Stretch's arm.
     '''
-
-    # Initialize the inhereted hm.Hellonode class
     def __init__(self):
+        """
+        Function that initializes the inhereted hm.HelloNode class.
+        :param self: The self reference.
+        """
         hm.HelloNode.__init__(self)
 
-
     def issue_stow_command(self):
         '''
         Function that makes an action call and sends stow postion goal.
@@ -34,8 +35,8 @@ class StowCommand(hm.HelloNode):
         stow_point = JointTrajectoryPoint()
         stow_point.time_from_start = rospy.Duration(0.000)
 
-        # Provide desired positions of lift, wrist extension, and yaw of
-        # the wrist (in meters)
+        # Provide desired positions of lift (meters), wrist extension (meters), and yaw of
+        # the wrist (radians)
         stow_point.positions = [0.2, 0.0, 3.4]
 
         # Set trajectory_goal as a FollowJointTrajectoryGoal and define
@@ -57,8 +58,6 @@ class StowCommand(hm.HelloNode):
         rospy.loginfo('Sent stow goal = {0}'.format(trajectory_goal))
         self.trajectory_client.wait_for_result()
 
-    # Create a funcion, main(), to do all of the setup the hm.HelloNode class
-    # and issue the stow command
     def main(self):
         '''
         Function that initiates stow_command function.
@@ -71,10 +70,9 @@ class StowCommand(hm.HelloNode):
         self.issue_stow_command()
         time.sleep(2)
 
-
 if __name__ == '__main__':
     try:
-        # Declare object from StowCommand class then execute the main() method
+        # Instanstiate a `StowCommand()` object and execute the main() method
         node = StowCommand()
         node.main()
     except KeyboardInterrupt:
diff --git a/src/tf2_broadcaster.py b/src/tf2_broadcaster.py
index 968d96b..cf288c6 100755
--- a/src/tf2_broadcaster.py
+++ b/src/tf2_broadcaster.py
@@ -3,10 +3,10 @@
 # Import modules
 import rospy
 
-# Because of transformations
+# Import tf.transformations the change quaternion values to euler values
 import tf.transformations
 
-# The TransformStamped message is imported to create a child frame
+# The TransformStamped message is imported to broadcast a transform frame
 from geometry_msgs.msg import TransformStamped
 
 # Import StaticTransformBroadcaster to publish static transforms
@@ -84,7 +84,7 @@ if __name__ == '__main__':
     # Initialize the node, and call it "tf2_broadcaster"
     rospy.init_node('tf2_broadcaster')
 
-    # Instantiate the FixedFrameBroadcaster class
+    # Instantiate the `FixedFrameBroadcaster()` class
     FixedFrameBroadcaster()
 
     # Give control to ROS.  This will allow the callback to be called whenever new
diff --git a/src/tf2_listener.py b/src/tf2_listener.py
index 5f5ad8b..b82862e 100755
--- a/src/tf2_listener.py
+++ b/src/tf2_listener.py
@@ -9,11 +9,10 @@ from geometry_msgs.msg import TransformStamped
 # Import StaticTransformBroadcaster to publish static transforms
 import tf2_ros
 
-
 class FrameListener():
     """
-    This Class prints the transformation between the fk_link_mast frame and the
-    target frame, link_grasp_center.
+    This Class prints the transform between the fk_link_mast and the
+    link_grasp_center frame.
     """
     def __init__(self):
         """
@@ -55,12 +54,11 @@ class FrameListener():
             # Manage the rate the node prints out a message
             rate.sleep()
 
-
 if __name__ == '__main__':
     # Initialize the node, and call it "tf2_liistener"
     rospy.init_node('tf2_listener')
 
-    # Instantiate the FrameListener class
+    # Instantiate the `FrameListener()` class
     FrameListener()
 
     # Give control to ROS.  This will allow the callback to be called whenever new
diff --git a/src/voice_teleoperation_base.py b/src/voice_teleoperation_base.py
index d56b668..ce09b5f 100755
--- a/src/voice_teleoperation_base.py
+++ b/src/voice_teleoperation_base.py
@@ -13,11 +13,11 @@ from sensor_msgs.msg import JointState
 from std_msgs.msg import Int32
 
 # Import the FollowJointTrajectoryGoal from the control_msgs.msg package to
-# control the Stretch robot.
+# control the Stretch robot
 from control_msgs.msg import FollowJointTrajectoryGoal
 
 # Import JointTrajectoryPoint from the trajectory_msgs package to define
-# robot trajectories.
+# robot trajectories
 from trajectory_msgs.msg import JointTrajectoryPoint
 
 # Import hello_misc script for handling trajectory goals with an action client
@@ -141,11 +141,11 @@ class GetVoiceCommands:
         if self.voice_command == 'back':
             command = {'joint': 'translate_mobile_base', 'inc': -self.get_inc()['translate']}
 
-        # Move base left command
+        # Rotate base left command
         if self.voice_command == 'left':
             command = {'joint': 'rotate_mobile_base', 'inc': self.get_inc()['rad']}
 
-        # Move base right command
+        # Rotate base right command
         if self.voice_command == 'right':
             command = {'joint': 'rotate_mobile_base', 'inc': -self.get_inc()['rad']}
 
@@ -187,7 +187,6 @@ class VoiceTeleopNode(hm.HelloNode):
         self.joint_state = None
         self.speech = GetVoiceCommands()
 
-
     def joint_states_callback(self, msg):
         """
         A callback function that stores Stretch's joint states.
@@ -222,20 +221,19 @@ class VoiceTeleopNode(hm.HelloNode):
             rospy.loginfo('inc = {0}'.format(inc))
             new_value = inc
 
-            # Assign the new_value position to the trajectory goal message type.
+            # Assign the new_value position to the trajectory goal message type
             point.positions = [new_value]
             trajectory_goal.trajectory.points = [point]
             trajectory_goal.trajectory.header.stamp = rospy.Time.now()
             rospy.loginfo('joint_name = {0}, trajectory_goal = {1}'.format(joint_name, trajectory_goal))
 
-            # Make the action call and send goal of the new joint position.
+            # Make the action call and send goal of the new joint position
             self.trajectory_client.send_goal(trajectory_goal)
             rospy.loginfo('Done sending command.')
 
             # Reprint the voice command menu
             self.speech.print_commands()
 
-
     def main(self):
         """
         The main function that instantiates the HelloNode class, initializes the subscriber,
@@ -255,11 +253,9 @@ class VoiceTeleopNode(hm.HelloNode):
             self.send_command(command)
             rate.sleep()
 
-
 if __name__ == '__main__':
     try:
-        # Declare object from the VoiceTeleopNode class. Then execute the
-        # main() method/function
+        # Instanstiate a `VoiceTeleopNode()` object and execute the main() method
         node = VoiceTeleopNode()
         node.main()
     except KeyboardInterrupt: