From 876f429d5ed0c87619f982a8d10a0c71a2df8ffc Mon Sep 17 00:00:00 2001
From: Nicolas Hiillos <nicolashiillos@gmail.com>
Date: Wed, 11 Jan 2023 15:56:39 +0200
Subject: [PATCH] Update docs

---
 README.md                                             | 1 +
 src/axidraw_controller/README.md                      | 2 +-
 src/axidraw_controller/src/cpp/axidraw_controller.cpp | 2 ++
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 67f0f2d..3d54044 100644
--- a/README.md
+++ b/README.md
@@ -7,6 +7,7 @@ Requirements:
 - python3-pil.imagetk
 - ros-humble-moveit
 - ros-humble-ros-gz
+- ignition-fortress
 
 ``` sh
 ./rebuild.sh
diff --git a/src/axidraw_controller/README.md b/src/axidraw_controller/README.md
index 585081b..fee4acd 100644
--- a/src/axidraw_controller/README.md
+++ b/src/axidraw_controller/README.md
@@ -2,7 +2,7 @@
 
 Implements robot_controller for the Axidraw robot.
 
-`axidraw_serial.py` is used to communicate with the robot using the python API.
+`axidraw_serial.py` is used to communicate with the robot using the [python API](https://axidraw.com/doc/py_api).
 If more direct control is desired, this can be implemented by sending serial commands directly to the [EBB control board](http://evil-mad.github.io/EggBot/ebb.html) of the Axidraw.
 
 On linux systems the board appears on `/dev/ttyACM0`.
diff --git a/src/axidraw_controller/src/cpp/axidraw_controller.cpp b/src/axidraw_controller/src/cpp/axidraw_controller.cpp
index f6fca01..185806c 100644
--- a/src/axidraw_controller/src/cpp/axidraw_controller.cpp
+++ b/src/axidraw_controller/src/cpp/axidraw_controller.cpp
@@ -48,6 +48,7 @@ class AxidrawController : public RobotController
     path_pub = this->create_publisher<robot_interfaces::msg::Points>("axidraw_path", 10);
   }
 
+  // Return true if axidraw is ready
   bool is_ready()
   {
     auto request = std::make_shared<robot_interfaces::srv::Status::Request>();
@@ -85,6 +86,7 @@ class AxidrawController : public RobotController
     return point;
   }
 
+  // Translate all poses in a vector
   std::vector<geometry_msgs::msg::Point> translate_poses(std::vector<geometry_msgs::msg::PoseStamped> ps)
   {
     std::vector<geometry_msgs::msg::Point> points;