diff --git a/package.xml b/package.xml
index f22380f..d4e951d 100644
--- a/package.xml
+++ b/package.xml
@@ -10,26 +10,6 @@
 
   <url type="website">https://bcnemotorsport.upc.edu/</url>
 
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
diff --git a/src/mpc.cpp b/src/mpc.cpp
index 1683068..d125e61 100644
--- a/src/mpc.cpp
+++ b/src/mpc.cpp
@@ -333,7 +333,7 @@ void MPC::set_params_bounds(){
             }
         }
 
-        progress(k) = planner(plannerIdx, 2);
+        progress(k) = planner(plannerIdx, 2); // save current progress from planner
 
         this->forces.params.all_parameters[23 + k*this->Npar] = pred_velocities(plannerIdx);
         this->forces.params.all_parameters[24 + k*this->Npar] = planner(plannerIdx, 3); // curvature