diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
index 9088e7a..a1f871f 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
@@ -30,6 +30,12 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief A general producer for URPackages. Implements funcionality to produce packages by
+ * reading and parsing from a byte stream.
+ *
+ * @tparam HeaderT Header type of packages to produce.
+ */
 template <typename HeaderT>
 class URProducer : public IProducer<HeaderT>
 {
@@ -39,10 +45,19 @@ private:
   std::chrono::seconds timeout_;
 
 public:
+  /*!
+   * \brief Creates a URProducer object, registering a stream and a parser.
+   *
+   * \param stream The stream to read from
+   * \param parser The parser to use to interpret received byte information
+   */
   URProducer(URStream<HeaderT>& stream, Parser<HeaderT>& parser) : stream_(stream), parser_(parser), timeout_(1)
   {
   }
 
+  /*!
+   * \brief Triggers the stream to connect to the robot.
+   */
   void setupProducer()
   {
     timeval tv;
@@ -54,14 +69,27 @@ public:
       throw UrException("Failed to connect to robot. Please check if the robot is booted and connected.");
     }
   }
+  /*!
+   * \brief Tears down the producer. Currently no special handling needed.
+   */
   void teardownProducer()
   {
     stopProducer();
   }
+  /*!
+   * \brief Stops the producer. Currently no functionality needed.
+   */
   void stopProducer()
   {
   }
 
+  /*!
+   * \brief Attempts to read byte stream from the robot and parse it as a URPackage.
+   *
+   * \param products Unique pointer to hold the produced package
+   *
+   * \returns Success of reading and parsing the package
+   */
   bool tryGet(std::vector<std::unique_ptr<URPackage<HeaderT>>>& products)
   {
     // 4KB should be enough to hold any packet received from UR
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h b/ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h
index c8f3ede..7926de7 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h
@@ -37,10 +37,19 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief The ReverseInterface class handles communication to the robot. It starts a server and
+ * waits for the robot to connect via its URCaps program.
+ */
 class ReverseInterface
 {
 public:
   ReverseInterface() = delete;
+  /*!
+   * \brief Creates a ReverseInterface object including a URServer.
+   *
+   * \param port Port the Server is started on
+   */
   ReverseInterface(uint32_t port) : server_(port)
   {
     if (!server_.bind())
@@ -52,11 +61,22 @@ public:
       throw std::runtime_error("Failed to accept robot connection");
     }
   }
+  /*!
+   * \brief Disconnects possible clients so the reverse interface object can be safely destroyed.
+   */
   ~ReverseInterface()
   {
     server_.disconnectClient();
   }
 
+  /*!
+   * \brief Writes needed information to the robot to be read by the URCaps program.
+   *
+   * \param positions A vector of joint position targets for the robot
+   * \param type An additional integer used to command the program to end when needed
+   *
+   * \returns True, if the write was performed successfully, false otherwise.
+   */
   bool write(const vector6d_t* positions, const int32_t type = 2)
   {
     uint8_t buffer[sizeof(uint32_t) * 7];
@@ -80,6 +100,11 @@ public:
     return server_.write(buffer, sizeof(buffer), written);
   }
 
+  /*!
+   * \brief Reads a keepalive signal from the robot.
+   *
+   * \returns The received keepalive string or the empty string, if nothing was received
+   */
   std::string readKeepalive()
   {
     size_t buf_len = 16;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h b/ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h
index e98d6c5..3551657 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h
@@ -36,10 +36,20 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief The ScriptSender class starts a URServer for a robot to connect to and waits for a
+ * request to receive a program. This program is then delivered to the requesting robot.
+ */
 class ScriptSender
 {
 public:
   ScriptSender() = delete;
+  /*!
+   * \brief Creates a ScriptSender object, including a new URServer and not yet started thread.
+   *
+   * \param port Port to start the server on
+   * \param program Program to send to the robot upon request
+   */
   ScriptSender(uint32_t port, const std::string& program) : server_(port), script_thread_(), program_(program)
   {
     if (!server_.bind())
@@ -48,6 +58,9 @@ public:
     }
   }
 
+  /*!
+   * \brief Starts the thread that handles program requests by a robot.
+   */
   void start()
   {
     script_thread_ = std::thread(&ScriptSender::runScriptSender, this);