Standardised naming to primary and secondary within code and readme

Author: Lu, Bethany(Data61, Pullenvale)

include/syropod_highlevel_controller/state_controller.h

@@ -217,14 +217,12 @@ class StateController
   /// @param[in] input The Point geometry message provided by the topic "syropod_remote/secondary_tip_velocity"
   void secondaryTipVelocityInputCallback(const geometry_msgs::Point &input);
 
-  /// Callback for the input manual tip position (in cartesian space) for the AR leg (front right leg)
-  /// @param[in] input The Pose geometry message provided by the subscribed topic "/syropod_manipulation/AR/Pose"
-  /// @see (https://confluence.csiro.au/display/CPS/Weaver+Diagrams)
+  /// Callback for the input manual tip position (in cartesian space) for the primary selected leg. 
+  /// @param[in] input The Pose geometry message provided by the subscribed topic "/syropod_manipulation/primary/pose"
   void  primaryTipPoseInputCallback(const geometry_msgs::Pose &msg);
 
-  /// Callback for the input manual tip position (in cartesian space) for the AL leg (front left leg).
-  /// @param[in] input The Pose geometry message provided by the subscribed topic "/syropod_manipulation/AL/Pose"
-  /// @see (https://confluence.csiro.au/display/CPS/Weaver+Diagrams)
+  /// Callback for the input manual tip position (in cartesian space) for the secondary selected leg. 
+  /// @param[in] input The Pose geometry message provided by the subscribed topic "/syropod_manipulation/secondary/Ppse"
   void  secondaryTipPoseInputCallback(const geometry_msgs::Pose &msg);
 
   /// Callback handling the desired parameter selection and sending state messages to user interface.