src/robot_interface/endpoints/actuation_receiver.py

@@ -19,7 +19,7 @@ class ActuationReceiver(ReceiverBase):
         """
         super(ActuationReceiver, self).__init__("actuation")
         self.create_socket(zmq_context, zmq.SUB, port)
-        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Can this not be given in the options?
+        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
         self._tts_service = None
 
     def _handle_speech(self, message):

src/robot_interface/endpoints/socket_base.py

@@ -61,7 +61,8 @@ class SocketBase(object):
         """
         Description of the endpoint. Used for negotiation.
 
-        :return: A dictionary with the following keys: name, port, pattern, data_type. See https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
+        :return: A dictionary with the following keys: id, port, bind. See API specification at:
+        https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
         :rtype: dict
         """
         return {

src/robot_interface/endpoints/video_sender.py

@@ -17,7 +17,7 @@ class VideoSender(SocketBase):
         Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
         """
         if not state.qi_session:
-            logging.info("No QI session available, not starting video loop")
+            logging.info("No Qi session available. Not starting video loop.")
             return
 
         video = state.qi_session.service("ALVideoDevice")