cleanup: cleaned up a few comments and types

include/ugv_sdk/details/interface/agilex_message.h

@@ -124,6 +124,7 @@ typedef struct {
   uint8_t driver_state;
 } ActuatorLSStateMessage;
 
+// for ranger
 typedef struct {
   uint8_t motion_mode;
   uint8_t mode_changing;

include/ugv_sdk/details/interface/agilex_types.h

@@ -29,9 +29,9 @@ typedef struct {
 } AgxLightOperation;
 
 typedef enum {
-  VehicleStateNormal = 0x00,
+  VEHICLE_STATE_NORMAL = 0x00,
-  VehicleStateEStop = 0x01,
+  VEHICLE_STATE_ESTOP = 0x01,
-  VehicleStateException = 0x02
+  VEHICLE_STATE_EXCEPTION = 0x02
 } AgxVehicleState;
 
 typedef enum {

include/ugv_sdk/details/robot_base/agilex_base.hpp

@@ -4,12 +4,6 @@
  * Created on: Dec 22, 2020 17:14
  * Description:
  *
- * Each robot class derived from this base class should provide implementation
- * for the following two functions:
- *
- * - virtual void Connect(std::string dev_name) = 0;
- * - virtual void ParseCANFrame(can_frame *rx_frame) = 0;
- *
  * Copyright (c) 2020 Ruixiang Du (rdu)
  */
 
@@ -87,8 +81,8 @@ class AgilexBase : public RobotCommonInterface {
         msg.body.motion_command_msg.steering_angle = steering_angle;
       }
 
-      std::cout << "sending motion cmd: " << linear_vel << "," << angular_vel
+      std::cout << "Sending motion cmd: " << linear_vel << ", " << angular_vel
-                << "," << lateral_vel << std::endl;
+                << ", " << lateral_vel << std::endl;
 
       // send to can bus
       can_frame frame;