Updated Comments Updated comments according to the requested changes.  Convened with @JCHJones about issues with several variables and commented appropriately.
Updated Comments
Updated comments according to the requested changes.  Convened with @JCHJones about issues with several variables and commented appropriately.

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