From de3d2fb117e4a1ccdc882fe6fbad74139c8dd644 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Thu, 2 Nov 2023 16:27:56 +0100
Subject: [PATCH] Add comments to localization

---
 bitbots_localization/srv/ResetFilter.srv | 25 ++++++++++++++----------
 bitbots_localization/srv/SetPaused.srv   |  1 +
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/bitbots_localization/srv/ResetFilter.srv b/bitbots_localization/srv/ResetFilter.srv
index 345619e4..a90377d7 100644
--- a/bitbots_localization/srv/ResetFilter.srv
+++ b/bitbots_localization/srv/ResetFilter.srv
@@ -1,15 +1,20 @@
+# Service to initialize localization
+
+# Request
+# Localization mode (e.g. START_RIGHT)
 int64 init_mode
-float32 x
-float32 y
-float32 angle
+
+# Some modes (e.g. POSITION) require additional information
+float32 x # in meters
+float32 y # in meters
+float32 angle # in radians
 
 # Constants
-int64 START_RIGHT=0
-int64 LEFT_HALF=1
-int64 RIGHT_HALF=2
-int64 POSITION=3
-int64 POSE=4
+int64 START_RIGHT=0  # Start at the sideline on the right half facing inwards (default game start)
+int64 LEFT_HALF=1  # Start somewhere on the left half
+int64 RIGHT_HALF=2  # Start somewhere on the right half
+int64 POSITION=3  # Start at a specific position with unknown orientation
+int64 POSE=4  # Start at a specific position and orientation
 
 ---
-bool success
-
+bool success # True if the localization was initialized successfully
diff --git a/bitbots_localization/srv/SetPaused.srv b/bitbots_localization/srv/SetPaused.srv
index 4b101c57..22eb9821 100644
--- a/bitbots_localization/srv/SetPaused.srv
+++ b/bitbots_localization/srv/SetPaused.srv
@@ -1,3 +1,4 @@
+# Pauses and unpauses the localisation system e.g. if the robot falls down.
 bool paused
 ---
 bool success