Refactoring abridge
Refactoring abridge

BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS