Cleanup of extraneous files

[stephanie-eng]

• Stop returning home after each move
• Port is now configurable - requires a change to set the port in the abb_bringup package NOTE THIS CHANGE IS PENDING
• Minor updates to documentation - more work will need to be done to make this more comprehensive, but it's a start
• Clean up code - removed unused variables and commented lines
• Fixed compile warnings

There are still a few TODO's that Dmitri noted and we may want to investigate, but we can tackle those in another PR