diff --git a/src/pdf_beamtime/include/pdf_beamtime/pdf_beamtime_server.hpp b/src/pdf_beamtime/include/pdf_beamtime/pdf_beamtime_server.hpp
index fa4173b1..fdd2edfd 100644
--- a/src/pdf_beamtime/include/pdf_beamtime/pdf_beamtime_server.hpp
+++ b/src/pdf_beamtime/include/pdf_beamtime/pdf_beamtime_server.hpp
@@ -153,12 +153,13 @@ class PdfBeamtimeServer
   /// @brief Set the current state to HOME and move robot to home position
   bool reset_fsm();
 
-  /// @brief Handles bluesky interrupt to PAUSE
+  /// @brief Handles bluesky interrupt to PAUSE, STOP, ABORT, and HALT
   void handle_pause();
   void handle_stop();
   void execute_stop();
   void handle_abort();
   void handle_halt();
+
   /// @brief Handles bluesky interrupt to RESUME
   void handle_resume();
 
diff --git a/src/pdf_beamtime/src/pdf_beamtime_server.cpp b/src/pdf_beamtime/src/pdf_beamtime_server.cpp
index 243b8a5b..4bd36195 100644
--- a/src/pdf_beamtime/src/pdf_beamtime_server.cpp
+++ b/src/pdf_beamtime/src/pdf_beamtime_server.cpp
@@ -156,7 +156,7 @@ void PdfBeamtimeServer::execute(
   feedback->status = get_action_completion_percentage();
 
   RCLCPP_INFO(
-    node_->get_logger(), "Current state is state %s.",
+    node_->get_logger(), "Current state is %s.",
     external_state_names_[static_cast<int>(current_state_)].c_str());
 
   // Reset inner_state_machine at new goal
@@ -546,7 +546,6 @@ void PdfBeamtimeServer::handle_stop()
 
 void PdfBeamtimeServer::execute_stop()
 {
-  ///@todo @ChandimaFernando This needs testing
   switch (current_state_) {
     case State::GRASP_SUCCESS:
       // handle the decision to pick up something else after successfully grabing the sample
@@ -568,6 +567,7 @@ void PdfBeamtimeServer::execute_stop()
       execute_stop();
       break;
 
+    /// @todo @ChandimaFernando This needs testing
     case State::PLACE:
       set_current_state(State::PICKUP_RETREAT);
       inner_state_machine_->set_internal_state(Internal_State::STOP);