Not only is "the right to keep and bear arms shall not be infringed" about the least unambiguous and far reaching language in the entire Constitution and its amendments, except for those who never learned about the concept of subordinate clauses, the authors were around for others and themselves to explain their rationales and the historical context (which per an expanded version of the SCOTUSBlog article goes back to the 12th Century).

You could try reading the decision, or Heller, but the go-to foundational book has long been That Every Man Be Armed: The Evolution of a Constitutional Right by Stephen P. Halbrook.