diff --git a/fuse_models/include/fuse_models/parameters/transform_sensor_params.hpp b/fuse_models/include/fuse_models/parameters/transform_sensor_params.hpp
index f2e87cfb..e6506abe 100644
--- a/fuse_models/include/fuse_models/parameters/transform_sensor_params.hpp
+++ b/fuse_models/include/fuse_models/parameters/transform_sensor_params.hpp
@@ -48,7 +48,7 @@ namespace fuse_models::parameters
 {
 
 /**
- * @brief Defines the set of parameters required by the Odometry3D class
+ * @brief Defines the set of parameters required by the TransformSensor class
  */
 struct TransformSensorParams : public ParameterBase
 {
diff --git a/fuse_models/include/fuse_models/transform_sensor.hpp b/fuse_models/include/fuse_models/transform_sensor.hpp
index 14c9e357..fa8523dc 100644
--- a/fuse_models/include/fuse_models/transform_sensor.hpp
+++ b/fuse_models/include/fuse_models/transform_sensor.hpp
@@ -56,20 +56,19 @@ namespace fuse_models
 {
 
 /**
- * @brief An adapter-type sensor that produces pose constraints from AprilTag detections
+ * @brief An adapter-type sensor that produces pose constraints from published transforms
  *
  * This sensor subscribes to a MessageType topic and creates orientation and pose variables and constraints.
- *
- * This sensor really just separates out the orientation, angular velocity, and linear acceleration
- * components of the message, and processes them just like the Pose3D, Twist3D, and Acceleration3D
- * classes.
+ * This sensor can be used for AprilTags or any pose for which the transform to the desired state estimation frame is
+ * known. For an example, try `ros2 launch fuse_tutorials fuse_apriltag_tutorial.launch.py` and see its relevant files.
  *
  * Parameters:
  *  - device_id (uuid string, default: 00000000-0000-0000-0000-000000000000) The device/robot ID to
  *                                                                           publish
  *  - device_name (string) Used to generate the device/robot ID if the device_id is not provided
- *  - queue_size (int, default: 10) The subscriber queue size for the pose messages
- *  - topic (string) The topic to which to subscribe for the pose messages
+ *  - queue_size (int, default: 10) The subscriber queue size for the transform messages
+ *  - topic (string) The topic to which to subscribe for the transform messages
+ *  - target_frame (string) the state estimation frame to transform tfs to
  *
  * Subscribes:
  *  - \p topic (MessageType) IMU data at a given timestep
@@ -103,7 +102,7 @@ class TransformSensor : public fuse_core::AsyncSensorModel
                   const std::string& name, fuse_core::TransactionCallback transaction_callback) override;
 
   /**
-   * @brief Callback for pose messages
+   * @brief Callback for tf messages
    * @param[in] msg - The IMU message to process
    */
   void process(const MessageType& msg);
diff --git a/fuse_optimizers/src/fixed_lag_smoother.cpp b/fuse_optimizers/src/fixed_lag_smoother.cpp
index 630ce3d2..f8816a29 100644
--- a/fuse_optimizers/src/fixed_lag_smoother.cpp
+++ b/fuse_optimizers/src/fixed_lag_smoother.cpp
@@ -515,12 +515,17 @@ void FixedLagSmoother::transactionCallback(const std::string& sensor_name, fuse_
       // And purge out old transactions
       //  - Either before or exactly at the start time
       //  - Or with a minimum time before the minimum time of this ignition sensor transaction
+      //
+      // TODO(efernandez) Do '&min_time = std::as_const(start_ime)' when C++17 is supported and we
+      //                  can use std::as_const:
+      //                  https://en.cppreference.com/w/cpp/utility/as_const
       pending_transactions_.erase(
           std::remove_if(pending_transactions_.begin(), pending_transactions_.end(),
-                         [&sensor_name, max_time, &min_time = std::as_const(start_time)](const auto& transaction) {
+                         [&sensor_name, max_time,
+                          &min_time = start_time](const auto& transaction) {  // NOLINT(whitespace/braces)
                            return transaction.sensor_name != sensor_name &&
                                   (transaction.minStamp() < min_time || transaction.maxStamp() <= max_time);
-                         }),
+                         }),  // NOLINT(whitespace/braces)
           pending_transactions_.end());
     }
     else