Worked on the una-auxme/paf repository to enhance documentation and developer experience, focusing on the Global Planner, local planning, and Collision Check components. Consolidated and clarified documentation using Markdown and Python, introducing a new diagram to illustrate the relationship between global and local planning. Refined descriptions of responsibilities, data flow, and interfaces within both documentation and docstrings, aiming to improve usability for users and integrators. Emphasized maintainability and onboarding by updating technical explanations and interface details. Leveraged skills in ROS and code refactoring to ensure that future development and feature integration would be more accessible and better supported by clear documentation.