Refactored and commented code.
Refactored and commented code.

shaykalyan/SE306-ROS,xShay/SE306-ROS,shaykalyan/SE306-ROS,shaykalyan/SE306-ROS,xShay/SE306-ROS,xShay/SE306-ROS,shaykalyan/SE306-ROS,xShay/SE306-ROS