Add some comments

Author: andrewjong

.env

@@ -60,7 +60,7 @@ GLOBAL_LAUNCH_FILE="global.launch.xml"
 BEHAVIOR_LAUNCH_PACKAGE="behavior_bringup"
 BEHAVIOR_LAUNCH_FILE="behavior.launch.xml"
 
-# offboard API streaming out
+# offboard API streaming out. this is so that ports don't conflict for multi-agent FCU communication
 OFFBOARD_BASE_PORT=14540
 ONBOARD_BASE_PORT=14580
 # ===============================================

robot/ros_ws/src/autonomy/5_behavior/behavior_executive/src/behavior_executive.cpp

@@ -352,6 +352,11 @@ void BehaviorExecutive::timer_callback() {
 
 // callbacks
 
+/**
+ * @brief Parses behavior tree commands and updates conditions accordingly
+ * 
+ * @param msg 
+ */
 void BehaviorExecutive::bt_commands_callback(behavior_tree_msgs::msg::BehaviorTreeCommands msg) {
     for (int i = 0; i < msg.commands.size(); i++) {
         std::string condition_name = msg.commands[i].condition_name;