diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
index 33f5d68..73f9fd3 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -59,25 +59,91 @@ enum class PausingState
   RAMPUP
 };
 
+/*!
+ * \brief The HardwareInterface class handles the interface between the ROS system and the main
+ * driver. It contains the read and write methods of the main control loop and registers various ROS
+ * topics and services.
+ */
 class HardwareInterface : public hardware_interface::RobotHW
 {
 public:
+  /*!
+   * \brief Creates a new HardwareInterface object.
+   */
   HardwareInterface();
   virtual ~HardwareInterface() = default;
+  /*!
+   * \brief Handles the setup functionality for the ROS interface. This includes parsing ROS
+   * parameters, creating interfaces, starting the main driver and advertising ROS services.
+   *
+   * \param root_nh Root level ROS node handle
+   * \param robot_hw_nh ROS node handle for the robot namespace
+   *
+   * \returns True, if the setup was performed successfully
+   */
   virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh) override;
+  /*!
+   * \brief Read method of the control loop. Reads a RTDE package from the robot and handles and
+   * publishes the information as needed.
+   *
+   * \param time Current time
+   * \param period Duration of current control loop iteration
+   */
   virtual void read(const ros::Time& time, const ros::Duration& period) override;
+  /*!
+   * \brief Write method of the control loop. Writes target joint positions to the robot to be read
+   * by its URCaps program.
+   *
+   * \param time Current time
+   * \param period Duration of current control loop iteration
+   */
   virtual void write(const ros::Time& time, const ros::Duration& period) override;
+  /*!
+   * \brief Preparation to start and stop loaded controllers.
+   *
+   * \param start_list List of controllers to start
+   * \param stop_list List of controllers to stop
+   *
+   * \returns True, if the controllers can be switched
+   */
   virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                              const std::list<hardware_interface::ControllerInfo>& stop_list) override;
+  /*!
+   * \brief Starts and stops controllers.
+   *
+   * \param start_list List of controllers to start
+   * \param stop_list List of controllers to stop
+   */
   virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                         const std::list<hardware_interface::ControllerInfo>& stop_list) override;
 
+  /*!
+   * \brief Getter for the current control frequency
+   *
+   * \returns The used control frequency
+   */
   uint32_t getControlFrequency() const;
 
+  /*!
+   * \brief Checks if the URCaps program is running on the robot.
+   *
+   * \returns True, if the program is currently running, false otherwise.
+   */
   bool isRobotProgramRunning() const;
 
+  /*!
+   * \brief Callback to handle a change in the current state of the URCaps program running on the
+   * robot.
+   *
+   * \param program_running The new state of the program
+   */
   void handleRobotProgramState(bool program_running);
 
+  /*!
+   * \brief Checks if a reset of the ROS controllers is necessary.
+   *
+   * \returns Necessity of ROS controller reset
+   */
   bool shouldResetControllers();
 
 protected: