diff --git a/ur_rtde_driver/doc/rosdoc.yaml b/ur_rtde_driver/doc/rosdoc.yaml
index 58ee1ca..d27dced 100644
--- a/ur_rtde_driver/doc/rosdoc.yaml
+++ b/ur_rtde_driver/doc/rosdoc.yaml
@@ -1,4 +1,4 @@
 - builder: doxygen
-   name: C++ API
-   output_dir: c++
-   file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
+  name: C++ API
+  output_dir: c++
+  file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h b/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
index 44a3d0f..9695c06 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
@@ -37,29 +37,16 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief The BinParser class handles a byte buffer and functionality to iteratively parse the
+ * content.
+ */
 class BinParser
 {
 private:
   uint8_t *buf_pos_, *buf_end_;
   BinParser& parent_;
 
-public:
-  BinParser(uint8_t* buffer, size_t buf_len) : buf_pos_(buffer), buf_end_(buffer + buf_len), parent_(*this)
-  {
-    assert(buf_pos_ <= buf_end_);
-  }
-
-  BinParser(BinParser& parent, size_t sub_len)
-    : buf_pos_(parent.buf_pos_), buf_end_(parent.buf_pos_ + sub_len), parent_(parent)
-  {
-    assert(buf_pos_ <= buf_end_);
-  }
-
-  ~BinParser()
-  {
-    parent_.buf_pos_ = buf_pos_;
-  }
-
   // Decode from network encoding (big endian) to host encoding
   template <typename T>
   T decode(T val)
@@ -91,6 +78,45 @@ public:
     return be64toh(val);
   }
 
+public:
+  /*!
+   * \brief Creates a new BinParser object from a given buffer.
+   *
+   * \param buffer The byte buffer to parse
+   * \param buf_len Size of the buffer
+   */
+  BinParser(uint8_t* buffer, size_t buf_len) : buf_pos_(buffer), buf_end_(buffer + buf_len), parent_(*this)
+  {
+    assert(buf_pos_ <= buf_end_);
+  }
+
+  /*!
+   * \brief Creates a new BinParser object for part of a buffer from a parent BinParser.
+   *
+   * \param parent Parent BinParser
+   * \param sub_len Size of the sub-buffer to parse
+   */
+  BinParser(BinParser& parent, size_t sub_len)
+    : buf_pos_(parent.buf_pos_), buf_end_(parent.buf_pos_ + sub_len), parent_(parent)
+  {
+    assert(buf_pos_ <= buf_end_);
+  }
+
+  /*!
+   * \brief Deconstructor for the BinParser.
+   */
+  ~BinParser()
+  {
+    parent_.buf_pos_ = buf_pos_;
+  }
+
+  /*!
+   * \brief Parses the next bytes as given type without moving the buffer pointer.
+   *
+   * @tparam T Type to parse as
+   *
+   * \returns Value of the next bytes as type T
+   */
   template <typename T>
   T peek()
   {
@@ -103,6 +129,12 @@ public:
     return decode(val);
   }
 
+  /*!
+   * \brief Parses the next bytes as given type.
+   *
+   * @tparam T Type to parse as
+   * \param val Reference to write the parsed value to
+   */
   template <typename T>
   void parse(T& val)
   {
@@ -110,12 +142,22 @@ public:
     buf_pos_ += sizeof(T);
   }
 
+  /*!
+   * \brief Parses the next bytes as a double.
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(double& val)
   {
     uint64_t inner;
     parse<uint64_t>(inner);
     std::memcpy(&val, &inner, sizeof(double));
   }
+  /*!
+   * \brief Parses the next bytes as a float.
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(float& val)
   {
     uint32_t inner;
@@ -123,8 +165,15 @@ public:
     std::memcpy(&val, &inner, sizeof(float));
   }
 
-  // UR uses 1 byte for boolean values but sizeof(bool) is implementation
-  // defined so we must ensure they're parsed as uint8_t on all compilers
+  /*!
+   * \brief Parses the next byte as a bool.
+   *
+   * UR uses 1 byte for boolean values but sizeof(bool) is implementation defined, so we must ensure
+   * they're parsed as uint8_t on all compilers
+   *
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(bool& val)
   {
     uint8_t inner;
@@ -132,6 +181,11 @@ public:
     val = inner != 0;
   }
 
+  /*!
+   * \brief Parses the next bytes as a vector of 3 doubles.
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(vector3d_t& val)
   {
     for (size_t i = 0; i < val.size(); ++i)
@@ -140,6 +194,11 @@ public:
     }
   }
 
+  /*!
+   * \brief Parses the next bytes as a vector of 6 doubles.
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(vector6d_t& val)
   {
     for (size_t i = 0; i < val.size(); ++i)
@@ -148,6 +207,11 @@ public:
     }
   }
 
+  /*!
+   * \brief Parses the next bytes as a vector of 6 32 bit integers.
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(vector6int32_t& val)
   {
     for (size_t i = 0; i < val.size(); ++i)
@@ -156,6 +220,11 @@ public:
     }
   }
 
+  /*!
+   * \brief Parses the next bytes as a vector of 6 unsigned 32 bit integers.
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(vector6uint32_t& val)
   {
     for (size_t i = 0; i < val.size(); ++i)
@@ -164,6 +233,12 @@ public:
     }
   }
 
+  /*!
+   * \brief Writes the remaining bytes into a given buffer without parsing them.
+   *
+   * \param buffer The buffer to copy the remaining bytes to.
+   * \param buffer_length Reference to write the number of remaining bytes to.
+   */
   void rawData(std::unique_ptr<uint8_t>& buffer, size_t& buffer_length)
   {
     buffer_length = buf_end_ - buf_pos_;
@@ -172,18 +247,33 @@ public:
     consume();
   }
 
+  /*!
+   * \brief Parses the remaining bytes as a string.
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parseRemainder(std::string& val)
   {
     parse(val, size_t(buf_end_ - buf_pos_));
   }
 
+  /*!
+   * \brief Parses a given number of bytes as a string.
+   *
+   * \param val Reference to write the parsed value to
+   * \param len Number of bytes to parse
+   */
   void parse(std::string& val, size_t len)
   {
     val.assign(reinterpret_cast<char*>(buf_pos_), len);
     buf_pos_ += len;
   }
 
-  // Special string parse function that assumes uint8_t len followed by chars
+  /*!
+   * \brief Special string parse function that assumes uint8_t len followed by chars
+   *
+   * \param val Reference to write the parsed value to
+   */
   void parse(std::string& val)
   {
     uint8_t len;
@@ -191,6 +281,13 @@ public:
     parse(val, size_t(len));
   }
 
+  /*!
+   * \brief Parses the next bytes as an array of a given type and size.
+   *
+   * @tparam T Type of the array
+   * @tparam N Number of elements in the array
+   * \param array Reference of an array to parse to.
+   */
   template <typename T, size_t N>
   void parse(std::array<T, N>& array)
   {
@@ -200,6 +297,13 @@ public:
     }
   }
 
+  /*!
+   * \brief Parses the next bytes as a value of a given type, but also copies it to a bitset.
+   *
+   * @tparam T Type to parse as
+   * @tparam N Size of the bitset to copy to
+   * \param set Reference to the bitset to copy the value to.
+   */
   template <typename T, size_t N>
   void parse(std::bitset<N>& set)
   {
@@ -208,30 +312,60 @@ public:
     set = std::bitset<N>(val);
   }
 
+  /*!
+   * \brief Sets the current buffer position to the end of the buffer, finishing parsing.
+   */
   void consume()
   {
     buf_pos_ = buf_end_;
   }
+  /*!
+   * \brief Moves the current buffer position ahead by a given amount.
+   *
+   * \param bytes Number of bytes to move the buffer position
+   */
   void consume(size_t bytes)
   {
     buf_pos_ += bytes;
   }
 
+  /*!
+   * \brief Checks if at least a given number of bytes is still remaining unparsed in the buffer.
+   *
+   * \param bytes Number of bytes to check for
+   *
+   * \returns True, if at least the given number of bytes are unparsed, false otherwise.
+   */
   bool checkSize(size_t bytes)
   {
     return bytes <= size_t(buf_end_ - buf_pos_);
   }
+  /*!
+   * \brief Checks if enough bytes for a given type remain unparsed in the buffer.
+   *
+   * @tparam T The type to check for
+   *
+   * \returns True, if enough bytes are unparsed, false otherwise.
+   */
   template <typename T>
   bool checkSize(void)
   {
     return checkSize(T::SIZE);
   }
 
+  /*!
+   * \brief Checks if no unparsed bytes remain in the buffer.
+   *
+   * \returns True, if all bytes were parsed, false otherwise.
+   */
   bool empty()
   {
     return buf_pos_ == buf_end_;
   }
 
+  /*!
+   * \brief Logs debugging information about the BinParser object.
+   */
   void debug()
   {
     LOG_DEBUG("BinParser: %p - %p (%zu bytes)", buf_pos_, buf_end_, buf_end_ - buf_pos_);
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/package.h b/ur_rtde_driver/include/ur_rtde_driver/comm/package.h
index 4e2aebf..5f2af64 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/package.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/package.h
@@ -49,8 +49,21 @@ public:
   URPackage() = default;
   virtual ~URPackage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(BinParser& bp) = 0;
 
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const = 0;
 
 private:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
index a337ebf..a0f4cb0 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
@@ -35,9 +35,22 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief A helper class to serialize packages. Contains methods for serializing all relevant
+ * datatypes.
+ */
 class PackageSerializer
 {
 public:
+  /*!
+   * \brief A generalized serialization method for arbitrary datatypes.
+   *
+   * @tparam T The type to serialize
+   * \param buffer The buffer to write the serialization into
+   * \param val The value to serialize
+   *
+   * \returns Size in byte of the serialization
+   */
   template <typename T>
   static size_t serialize(uint8_t* buffer, T val)
   {
@@ -47,6 +60,14 @@ public:
     return size;
   }
 
+  /*!
+   * \brief A serialization method for double values.
+   *
+   * \param buffer The buffer to write the serialization into.
+   * \param val The value to serialize.
+   *
+   * \returns Size in byte of the serialization.
+   */
   static size_t serialize(uint8_t* buffer, double val)
   {
     size_t size = sizeof(double);
@@ -57,6 +78,14 @@ public:
     return size;
   }
 
+  /*!
+   * \brief A serialization method for strings.
+   *
+   * \param buffer The buffer to write the serialization into.
+   * \param val The string to serialize.
+   *
+   * \returns Size in byte of the serialization.
+   */
   static size_t serialize(uint8_t* buffer, std::string val)
   {
     const uint8_t* c_val = reinterpret_cast<const uint8_t*>(val.c_str());
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/parser.h b/ur_rtde_driver/include/ur_rtde_driver/comm/parser.h
index ab20909..8b0cab3 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/parser.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/parser.h
@@ -41,10 +41,10 @@ public:
   virtual ~Parser() = default;
 
   /*!
-   * \brief declares the parse function.
+   * \brief Declares the parse function.
    *
-   * \param bp instant of class binaryParser
-   * \param results unique pointer
+   * \param bp Instance of class binaryParser
+   * \param results A unique pointer
    */
   virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<URPackage<HeaderT>>>& results) = 0;
   using _header_type = HeaderT;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
index 48a64dc..94deb26 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
@@ -36,27 +36,57 @@ namespace comm
 // TODO: Remove these!!!
 using namespace moodycamel;
 
+/*!
+ * \brief Parent class for for arbitrary consumers.
+ *
+ * @tparam T Type of the consumed products
+ */
 template <typename T>
 class IConsumer
 {
 public:
+  /*!
+   * \brief Set-up functionality of the consumer.
+   */
   virtual void setupConsumer()
   {
   }
+  /*!
+   * \brief Fully tears down the consumer - by default no difference to stopping it.
+   */
   virtual void teardownConsumer()
   {
     stopConsumer();
   }
+  /*!
+   * \brief Stops the consumer.
+   */
   virtual void stopConsumer()
   {
   }
+  /*!
+   * \brief Functionality for handling consumer timeouts.
+   */
   virtual void onTimeout()
   {
   }
 
+  /*!
+   * \brief Consumes a product, utilizing it's contents.
+   *
+   * \param product Shared pointer to the product to be consumed.
+   *
+   * \returns Success of the consumption.
+   */
   virtual bool consume(std::shared_ptr<T> product) = 0;
 };
 
+/*!
+ * \brief Consumer, that allows one product to be consumed by multiple arbitrary
+ * conusmers.
+ *
+ * @tparam T Type of the consumed products
+ */
 template <typename T>
 class MultiConsumer : public IConsumer<T>
 {
@@ -64,10 +94,18 @@ private:
   std::vector<IConsumer<T>*> consumers_;
 
 public:
+  /*!
+   * \brief Creates a new MultiConsumer object.
+   *
+   * \param consumers The list of consumers that should all consume given products
+   */
   MultiConsumer(std::vector<IConsumer<T>*> consumers) : consumers_(consumers)
   {
   }
 
+  /*!
+   * \brief Sets up all registered consumers.
+   */
   virtual void setupConsumer()
   {
     for (auto& con : consumers_)
@@ -75,6 +113,9 @@ public:
       con->setupConsumer();
     }
   }
+  /*!
+   * \brief Tears down all registered consumers.
+   */
   virtual void teardownConsumer()
   {
     for (auto& con : consumers_)
@@ -82,6 +123,9 @@ public:
       con->teardownConsumer();
     }
   }
+  /*!
+   * \brief Stops all registered consumers.
+   */
   virtual void stopConsumer()
   {
     for (auto& con : consumers_)
@@ -89,6 +133,9 @@ public:
       con->stopConsumer();
     }
   }
+  /*!
+   * \brief Triggers timeout functionality for all registered consumers.
+   */
   virtual void onTimeout()
   {
     for (auto& con : consumers_)
@@ -97,6 +144,13 @@ public:
     }
   }
 
+  /*!
+   * \brief Consumes a given product with all registered consumers.
+   *
+   * \param product Shared pointer to the product to be consumed.
+   *
+   * \returns Success of the consumption.
+   */
   bool consume(std::shared_ptr<T> product)
   {
     bool res = true;
@@ -109,35 +163,72 @@ public:
   }
 };
 
+/*!
+ * \brief Parent class for arbitrary producers of packages.
+ *
+ * @tparam HeaderT Header type of the produced packages
+ */
 template <typename HeaderT>
 class IProducer
 {
 public:
+  /*!
+   * \brief Set-up functionality of the producers.
+   */
   virtual void setupProducer()
   {
   }
+  /*!
+   * \brief Fully tears down the producer - by default no difference to stopping it.
+   */
   virtual void teardownProducer()
   {
     stopProducer();
   }
+  /*!
+   * \brief Stops the producer.
+   */
   virtual void stopProducer()
   {
   }
 
+  /*!
+   * \brief Reads packages from some source and produces corresponding objects.
+   *
+   * \param products Vector of unique pointers to be filled with produced packages.
+   *
+   * \returns Success of the package production.
+   */
   virtual bool tryGet(std::vector<std::unique_ptr<URPackage<HeaderT>>>& products) = 0;
 };
 
+/*!
+ * \brief Parent class for notifiers.
+ */
 class INotifier
 {
 public:
+  /*!
+   * \brief Start notification.
+   */
   virtual void started(std::string name)
   {
   }
+  /*!
+   * \brief Stop notification.
+   */
   virtual void stopped(std::string name)
   {
   }
 };
 
+/*!
+ * \brief The Pipepline manages the production and optionally consumption of packages. Cyclically
+ * the producer is called and returned packages are saved in a queue. This queue is then either also
+ * cyclically utilized by the registered consumer or can be externally used.
+ *
+ * @tparam HeaderT Header type of the managed packages
+ */
 template <typename HeaderT>
 class Pipeline
 {
@@ -145,21 +236,44 @@ public:
   typedef std::chrono::high_resolution_clock Clock;
   typedef Clock::time_point Time;
   using _package_type = URPackage<HeaderT>;
+  /*!
+   * \brief Creates a new Pipeline object, registering producer, consumer and notifier.
+   * Additionally, an empty queue is initialized.
+   *
+   * \param producer The producer to run in the pipeline
+   * \param consumer The consumer to run in the pipeline
+   * \param name The pipeline's name
+   * \param notifier The notifier to use
+   */
   Pipeline(IProducer<HeaderT>& producer, IConsumer<_package_type>& consumer, std::string name, INotifier& notifier)
     : producer_(producer), consumer_(&consumer), name_(name), notifier_(notifier), queue_{ 32 }, running_{ false }
   {
   }
+  /*!
+   * \brief Creates a new Pipeline object, registering producer and notifier while no consumer is
+   * used. Additionally, an empty queue is initialized.
+   *
+   * \param producer The producer to run in the pipeline
+   * \param name The pipeline's name
+   * \param notifier The notifier to use
+   */
   Pipeline(IProducer<HeaderT>& producer, std::string name, INotifier& notifier)
     : producer_(producer), consumer_(nullptr), name_(name), notifier_(notifier), queue_{ 32 }, running_{ false }
   {
   }
 
+  /*!
+   * \brief The Pipeline object's destructor, stopping the pipeline and joining all running threads.
+   */
   virtual ~Pipeline()
   {
     LOG_DEBUG("Destructing pipeline");
     stop();
   }
 
+  /*!
+   * \brief Starts the producer and, if existing, the consumer in new threads.
+   */
   void run()
   {
     if (running_)
@@ -173,6 +287,9 @@ public:
     notifier_.started(name_);
   }
 
+  /*!
+   * \brief Stops the pipeline and all running threads.
+   */
   void stop()
   {
     if (!running_)
@@ -193,6 +310,14 @@ public:
     notifier_.stopped(name_);
   }
 
+  /*!
+   * \brief Returns the next package in the queue. Can be used instead of registering a consumer.
+   *
+   * \param product Unique pointer to be set to the package
+   * \param timeout Time to wait if no package is in the queue before returning
+   *
+   * \returns
+   */
   bool getLatestProduct(std::unique_ptr<URPackage<HeaderT>>& product, std::chrono::milliseconds timeout)
   {
     return queue_.waitDequeTimed(product, timeout);
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 d8ecfe1..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;
@@ -97,6 +122,10 @@ public:
     }
   }
 
+private:
+  URServer server_;
+  static const int32_t MULT_JOINTSTATE = 1000000;
+
   template <typename T>
   size_t append(uint8_t* buffer, T& val)
   {
@@ -104,10 +133,6 @@ public:
     std::memcpy(buffer, &val, s);
     return s;
   }
-
-private:
-  URServer server_;
-  static const int32_t MULT_JOINTSTATE = 1000000;
 };
 
 }  // namespace comm
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);
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/server.h b/ur_rtde_driver/include/ur_rtde_driver/comm/server.h
index cc6ef2d..9381cb4 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/server.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/server.h
@@ -34,6 +34,10 @@ namespace comm
 {
 #define MAX_SERVER_BUF_LEN 50
 
+/*!
+ * \brief The URServer class abstracts communication with the robot. It opens a socket on a given
+ * port and waits for a robot to connect, at which point two way communication can be established.
+ */
 class URServer : private comm::TCPSocket
 {
 private:
@@ -44,13 +48,56 @@ protected:
   virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len);
 
 public:
+  /*!
+   * \brief Creates a URServer object with a given port.
+   *
+   * \param port The port to open a socket on
+   */
   URServer(int port);
+  /*!
+   * \brief Closes the socket to allow for destruction of the object.
+   */
   ~URServer();
+  /*!
+   * \brief Getter for the server IP.
+   *
+   * \returns The IP of the server
+   */
   std::string getIP();
+  /*!
+   * \brief Binds to server's port, setting up a socket if possible.
+   *
+   * \returns Success of setting up the socket
+   */
   bool bind();
+  /*!
+   * \brief Waits for a robot to connect to the socket.
+   *
+   * \returns True, if a robot successfully connected, false otherwise.
+   */
   bool accept();
+  /*!
+   * \brief Triggers a disconnect of the currently connected robot.
+   */
   void disconnectClient();
+  /*!
+   * \brief Reads the byte-stream from the robot to the next linebreak.
+   *
+   * \param buffer The buffer to write the received bytes to
+   * \param buf_len Size of the buffer
+   *
+   * \returns True if a successful read occurred, false otherwise
+   */
   bool readLine(char* buffer, size_t buf_len);
+  /*!
+   * \brief Writes a buffer to the robot.
+   *
+   * \param buf The buffer to write from
+   * \param buf_len The length to write
+   * \param written A reference used to indicate how many bytes were written
+   *
+   * \returns Success of the write
+   */
   bool write(const uint8_t* buf, size_t buf_len, size_t& written);
 };
 }  // namespace comm
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
index 19fd21b..f6c6725 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
@@ -36,6 +36,12 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief The ShellConsumer class is a simple consumer that writes a readable representation to
+ * the logging info channel.
+ *
+ * @tparam HeaderT Header type of the packages to consume
+ */
 template <typename HeaderT>
 class ShellConsumer : public IConsumer<URPackage<HeaderT>>
 {
@@ -43,6 +49,13 @@ public:
   ShellConsumer() = default;
   virtual ~ShellConsumer() = default;
 
+  /*!
+   * \brief Consumes a package, writing a human readable representation to the logging.
+   *
+   * \param product The package to consume
+   *
+   * \returns True if the output was successful
+   */
   virtual bool consume(std::shared_ptr<URPackage<HeaderT>> product)
   {
     LOG_INFO("%s", product->toString().c_str());
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h b/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
index 8a7e13e..b4347f7 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
@@ -56,7 +56,7 @@ public:
   /*!
    * \brief Connects to the configured socket.
    *
-   * \returns True on success, false if connection could not be established.
+   * \returns True on success, false if connection could not be established
    */
   bool connect()
   {
@@ -89,7 +89,7 @@ public:
    * \param[in] buf_len Number of bytes allocated for the buffer
    * \param[out] read Number of bytes actually read from the socket
    *
-   * \returns True on success, false on error, e.g. the buffer is smaller than the package size.
+   * \returns True on success, false on error, e.g. the buffer is smaller than the package size
    */
   bool read(uint8_t* buf, const size_t buf_len, size_t& read);
 
@@ -98,9 +98,9 @@ public:
    *
    * \param[in] buf Byte stream that should be sent
    * \param[in] buf_len Number of bytes in buffer
-   * \param[out] written Number of bytes actually written to the socket.
+   * \param[out] written Number of bytes actually written to the socket
    *
-   * \returns false if sending went wrong
+   * \returns False if sending went wrong
    */
   bool write(const uint8_t* buf, const size_t buf_len, size_t& written);
 
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h b/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
index 4a84747..c6a6d06 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
@@ -31,12 +31,15 @@ namespace ur_driver
 {
 namespace comm
 {
+/*!
+ * \brief State the socket can be in
+ */
 enum class SocketState
 {
-  Invalid,
-  Connected,
-  Disconnected,
-  Closed
+  Invalid,       ///< Socket is initialized or setup failed
+  Connected,     ///< Socket is connected and ready to use
+  Disconnected,  ///< Socket is disconnected and cannot be used
+  Closed         ///< Connection to socket got closed
 };
 
 /*!
@@ -59,18 +62,38 @@ protected:
   bool setup(std::string& host, int port);
 
 public:
+  /*!
+   * \brief Creates a TCPSocket object
+   */
   TCPSocket();
   virtual ~TCPSocket();
 
+  /*!
+   * \brief Getter for the state of the socket.
+   *
+   * \returns Returns the current state of the socket
+   */
   SocketState getState()
   {
     return state_;
   }
 
+  /*!
+   * \brief Getter for the file descriptor of the socket.
+   *
+   * \returns The file descriptor of the socket
+   */
   int getSocketFD()
   {
     return socket_fd_;
   }
+  /*!
+   * \brief Setter for the file descriptor of the socket.
+   *
+   * \param socket_fd The new value
+   *
+   * \returns False, if the socket is in state connected
+   */
   bool setSocketFD(int socket_fd);
 
   /*!
@@ -83,7 +106,7 @@ public:
   /*!
    * \brief Reads one byte from the socket
    *
-   * \param character[out] Target buffer
+   * \param[out] character Target buffer
    *
    * \returns True on success, false otherwise
    */
diff --git a/ur_rtde_driver/include/ur_rtde_driver/exceptions.h b/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
index 346e53f..2a2bdcd 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
@@ -55,6 +55,9 @@ private:
   /* data */
 };
 
+/*!
+ * \brief A specialized exception representing detection of a not supported UR control version.
+ */
 class VersionMismatch : public UrException
 {
 public:
@@ -83,6 +86,9 @@ private:
   std::string text_;
 };
 
+/*!
+ * \brief A specialized exception representing that communication to the tool is not possible.
+ */
 class ToolCommNotAvailable : public VersionMismatch
 {
 public:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
index e99555c..3353059 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
@@ -40,6 +40,9 @@ namespace primary_interface
 {
 static const int UR_PRIMARY_PORT = 30001;
 static const int UR_SECONDARY_PORT = 30002;
+/*!
+ * \brief Possible RobotPackage types
+ */
 enum class RobotPackageType : int8_t
 {
   DISCONNECT = -1,
@@ -52,6 +55,9 @@ enum class RobotPackageType : int8_t
   PROGRAM_STATE_MESSAGE = 25
 };
 
+/*!
+ * \brief This class represents the header for primary packages.
+ */
 class PackageHeader
 {
 public:
@@ -60,6 +66,13 @@ public:
 
   using _package_size_type = int32_t;
 
+  /*!
+   * \brief Reads a buffer, interpreting the next bytes as the size of the contained package.
+   *
+   * \param buf The given byte stream containing a serialized package
+   *
+   * \returns The size of the given serialized package
+   */
   static size_t getPackageLength(uint8_t* buf)
   {
     return be32toh(*(reinterpret_cast<_package_size_type*>(buf)));
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h b/ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h
index 12133c2..6848d97 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h
@@ -51,7 +51,21 @@ public:
   }
   virtual ~PrimaryPackage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
 protected:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h b/ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h
index dc30591..b4ceaa9 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h
@@ -35,12 +35,25 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+/*!
+ * \brief The primary specific parser. Interprets a given byte stream as serialized primary
+ * packages and parses it accordingly.
+ */
 class PrimaryParser : public comm::Parser<PackageHeader>
 {
 public:
   PrimaryParser() = default;
   virtual ~PrimaryParser() = default;
 
+  /*!
+   * \brief Uses the given BinParser to create package objects from the contained serialization.
+   *
+   * \param bp A BinParser holding one or more serialized primary packages
+   * \param results A vector of pointers to created primary package objects
+   *
+   * \returns True, if the byte stream could successfully be parsed as primary packages, false
+   * otherwise
+   */
   bool parse(comm::BinParser& bp, std::vector<std::unique_ptr<comm::URPackage<PackageHeader>>>& results)
   {
     int32_t packet_size;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
index 59f84f1..9f965e9 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
@@ -34,6 +34,9 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+/*!
+ * \brief Possible RobotMessage types
+ */
 enum class RobotMessagePackageType : uint8_t
 {
   ROBOT_MESSAGE_TEXT = 0,
@@ -46,16 +49,39 @@ enum class RobotMessagePackageType : uint8_t
   ROBOT_MESSAGE_REQUEST_VALUE = 9,
   ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
 };
-class RobotMessage : public PrimaryPackage
 
+/*!
+ * \brief The RobotMessage class is a parent class for the different received robot messages.
+ */
+class RobotMessage : public PrimaryPackage
 {
 public:
+  /*!
+   * \brief Creates a new RobotMessage object to be filled from a package.
+   *
+   * \param timestamp Timestamp of the package
+   * \param source The package's source
+   */
   RobotMessage(const uint64_t timestamp, const uint8_t source) : timestamp_(timestamp), source_(source)
   {
   }
   virtual ~RobotMessage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint64_t timestamp_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
index 19a789a..d552a93 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
@@ -34,17 +34,39 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+/*!
+ * \brief The VersionMessage class handles the version messages sent via the primary UR interface.
+ */
 class VersionMessage : public RobotMessage
 {
 public:
   VersionMessage() = delete;
+  /*!
+   * \brief Creates a new VersionMessage object to be filled from a package.
+   *
+   * \param timestamp Timestamp of the package
+   * \param source The package's source
+   */
   VersionMessage(uint64_t timestamp, uint8_t source) : RobotMessage(timestamp, source)
   {
   }
   virtual ~VersionMessage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
 
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   int8_t project_name_length_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
index 5cd812e..9a2f648 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
@@ -37,6 +37,9 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+/*!
+ * \brief Possible RobotState types
+ */
 enum class RobotStateType : uint8_t
 {
   ROBOT_MODE_DATA = 0,
@@ -58,15 +61,34 @@ class RobotState : public PrimaryPackage
 {
 public:
   RobotState() = delete;
+  /*!
+   * \brief Creates a new RobotState object, setting the type of state message.
+   *
+   * \param type The type of state message
+   */
   RobotState(const RobotStateType type) : state_type_(type)
   {
   }
   virtual ~RobotState() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp)
   {
     return PrimaryPackage::parseWith(bp);
   }
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const
   {
     std::stringstream ss;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
index b6fb5ff..4f8c480 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
@@ -43,14 +43,38 @@ class KinematicsInfo : public RobotState
 {
 public:
   KinematicsInfo() = delete;
+  /*!
+   * \brief Creates a new KinematicsInfo object.
+   *
+   * \param type The type of RobotState message received
+   */
   KinematicsInfo(const RobotStateType type) : RobotState(type)
   {
   }
   virtual ~KinematicsInfo() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
+  /*!
+   * \brief Calculates a hash value of the parameters to allow for identification of a calibration.
+   *
+   * \returns A hash value of the parameters
+   */
   std::string toHash() const;
 
   vector6uint32_t checksum_;
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 4f3654a..f481b28 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
@@ -52,6 +52,9 @@
 
 namespace ur_driver
 {
+/*!
+ * \brief Possible states for robot control
+ */
 enum class PausingState
 {
   PAUSED,
@@ -59,25 +62,91 @@ 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:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h
index 5c4f13c..2b3d6dc 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h
@@ -34,23 +34,49 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief This class handles the robot's response to a requested stop in RTDE data package
+ * communication.
+ */
 class ControlPackagePause : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackagePause object.
+   */
   ControlPackagePause() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_PAUSE)
   {
   }
   virtual ~ControlPackagePause() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint8_t accepted_;
 };
 
+/*!
+ * \brief This class is used to request a stop in RTDE data package communication.
+ */
 class ControlPackagePauseRequest : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackagePauseRequest object.
+   */
   ControlPackagePauseRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_PAUSE)
   {
   }
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h
index ddd4672..7b7b975 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h
@@ -34,29 +34,62 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief This class handles the robot's response to a requested input recipe setup.
+ */
 class ControlPackageSetupInputs : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackageSetupInputs object.
+   */
   ControlPackageSetupInputs() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_INPUTS)
   {
   }
   virtual ~ControlPackageSetupInputs() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint8_t input_recipe_id_;
   std::string variable_types_;
 };
 
+/*!
+ * \brief This class is used to setup the input recipe as part of the initial RTDE handshake.
+ */
 class ControlPackageSetupInputsRequest : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackageSetupInputsRequest object.
+   */
   ControlPackageSetupInputsRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_INPUTS)
   {
   }
   virtual ~ControlPackageSetupInputsRequest() = default;
 
+  /*!
+   * \brief Generates a serialized package.
+   *
+   * \param buffer Buffer to fill with the serialization
+   * \param variable_names The input recipe to set
+   *
+   * \returns The total size of the serialized package
+   */
   static size_t generateSerializedRequest(uint8_t* buffer, std::vector<std::string> variable_names);
 
   std::string variable_names_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h
index 3d2fd61..8a85b1b 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h
@@ -35,32 +35,74 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief This class handles the robot's response to a requested output recipe setup.
+ */
 class ControlPackageSetupOutputs : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackageSetupOutputs object.
+   */
   ControlPackageSetupOutputs() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS)
   {
   }
   virtual ~ControlPackageSetupOutputs() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint8_t output_recipe_id_;
   std::string variable_types_;
 };
 
+/*!
+ * \brief This class is used to setup the output recipe as part of the initial RTDE handshake.
+ */
 class ControlPackageSetupOutputsRequest : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackageSetupOutputsRequest object.
+   */
   ControlPackageSetupOutputsRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS)
   {
   }
   virtual ~ControlPackageSetupOutputsRequest() = default;
 
+  /*!
+   * \brief Generates a serialized package.
+   *
+   * \param buffer Buffer to fill with the serialization
+   * \param output_frequency Frequency of data packages to be sent by the robot
+   * \param variable_names The output recipe to set
+   *
+   * \returns The total size of the serialized package
+   */
   static size_t generateSerializedRequest(uint8_t* buffer, double output_frequency,
                                           std::vector<std::string> variable_names);
 
+  /*!
+   * \brief Generates a serialized package.
+   *
+   * \param buffer Buffer to fill with the serialization
+   * \param variable_names The output recipe to set
+   *
+   * \returns The total size of the serialized package
+   */
   static size_t generateSerializedRequest(uint8_t* buffer, std::vector<std::string> variable_names);
 
   double output_frequency_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h
index 8db2c74..12c45e9 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h
@@ -34,28 +34,61 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief This class handles the robot's response to a requested start in RTDE data package
+ * communication.
+ */
 class ControlPackageStart : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackageStart object.
+   */
   ControlPackageStart() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_START)
   {
   }
   virtual ~ControlPackageStart() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint8_t accepted_;
 };
 
+/*!
+ * \brief This class is used to request a stop in RTDE data package communication.
+ */
 class ControlPackageStartRequest : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new ControlPackageStartRequest object.
+   */
   ControlPackageStartRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_START)
   {
   }
   virtual ~ControlPackageStartRequest() = default;
 
+  /*!
+   * \brief Generates a serialized package.
+   *
+   * \param buffer Buffer to fill with the serialization
+   *
+   * \returns The total size of the serialized package
+   */
   static size_t generateSerializedRequest(uint8_t* buffer);
 
 private:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
index 47a2adc..00c3455 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
@@ -38,6 +38,9 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief Possible values for the runtime state
+ */
 enum class RUNTIME_STATE : uint32_t
 {
   STOPPING = 0,
@@ -48,41 +51,10 @@ enum class RUNTIME_STATE : uint32_t
   RESUMING = 5
 };
 
-struct ParseVisitor : public boost::static_visitor<>
-{
-  template <typename T>
-  void operator()(T& d, comm::BinParser& bp) const
-  {
-    bp.parse(d);
-  }
-};
-struct StringVisitor : public boost::static_visitor<std::string>
-{
-  template <typename T>
-  std::string operator()(T& d) const
-  {
-    std::stringstream ss;
-    ss << d;
-    return ss.str();
-  }
-};
-struct SizeVisitor : public boost::static_visitor<uint16_t>
-{
-  template <typename T>
-  uint16_t operator()(T& d) const
-  {
-    return sizeof(d);
-  }
-};
-struct SerializeVisitor : public boost::static_visitor<size_t>
-{
-  template <typename T>
-  size_t operator()(T& d, uint8_t* buffer) const
-  {
-    return comm::PackageSerializer::serialize(buffer, d);
-  }
-};
-
+/*!
+ * \brief The DataPackage class handles communication in the form of RTDE data packages both to and
+ * from the robot. It contains functionality to parse and serialize packages for arbitrary recipes.
+ */
 class DataPackage : public RTDEPackage
 {
 public:
@@ -90,16 +62,44 @@ public:
                                             vector6int32_t, vector6uint32_t, std::string>;
 
   DataPackage() = delete;
+  /*!
+   * \brief Creates a new DataPackage object, based on a given recipe.
+   *
+   * \param recipe The used recipe
+   */
   DataPackage(const std::vector<std::string>& recipe) : RTDEPackage(PackageType::RTDE_DATA_PACKAGE), recipe_(recipe)
   {
   }
   virtual ~DataPackage() = default;
 
+  /*!
+   * \brief Initializes to contained list with empty values based on the recipe.
+   */
   void initEmpty();
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
+  /*!
+   * \brief Serializes the package.
+   *
+   * \param buffer Buffer to fill with the serialization
+   *
+   * \returns The total size of the serialized package
+   */
   size_t serializePackage(uint8_t* buffer);
 
   /*!
@@ -109,6 +109,7 @@ public:
    *
    * \param name The string identifier for the data field as used in the documentation.
    * \param val Target variable. Make sure, it's the correct type.
+   * \exception boost::bad_get if the type under given \p name does not match the template type T.
    *
    * \returns True on success, false if the field cannot be found inside the package.
    */
@@ -134,6 +135,7 @@ public:
    *
    * \param name The string identifier for the data field as used in the documentation.
    * \param val Target variable. Make sure, it's the correct type.
+   * \exception boost::bad_get if the type under given \p name does not match the template type T.
    *
    * \returns True on success, false if the field cannot be found inside the package.
    */
@@ -177,6 +179,11 @@ public:
     return true;
   }
 
+  /*!
+   * \brief Setter of the recipe id value used to identify the used recipe to the robot.
+   *
+   * \param recipe_id The new value
+   */
   void setRecipeID(const uint8_t& recipe_id)
   {
     recipe_id_ = recipe_id;
@@ -188,6 +195,41 @@ private:
   uint8_t recipe_id_;
   std::unordered_map<std::string, _rtde_type_variant> data_;
   std::vector<std::string> recipe_;
+
+  struct ParseVisitor : public boost::static_visitor<>
+  {
+    template <typename T>
+    void operator()(T& d, comm::BinParser& bp) const
+    {
+      bp.parse(d);
+    }
+  };
+  struct StringVisitor : public boost::static_visitor<std::string>
+  {
+    template <typename T>
+    std::string operator()(T& d) const
+    {
+      std::stringstream ss;
+      ss << d;
+      return ss.str();
+    }
+  };
+  struct SizeVisitor : public boost::static_visitor<uint16_t>
+  {
+    template <typename T>
+    uint16_t operator()(T& d) const
+    {
+      return sizeof(d);
+    }
+  };
+  struct SerializeVisitor : public boost::static_visitor<size_t>
+  {
+    template <typename T>
+    size_t operator()(T& d, uint8_t* buffer) const
+    {
+      return comm::PackageSerializer::serialize(buffer, d);
+    }
+  };
 };
 
 }  // namespace rtde_interface
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h
index 3b5f564..4791f6b 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h
@@ -35,15 +35,34 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief This class handles the package detailing the UR control version sent by the robot.
+ */
 class GetUrcontrolVersion : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new GetUrcontrolVersion object.
+   */
   GetUrcontrolVersion() : RTDEPackage(PackageType::RTDE_GET_URCONTROL_VERSION)
   {
   }
   virtual ~GetUrcontrolVersion() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   VersionInformation version_information_;
@@ -54,14 +73,27 @@ public:
   uint32_t build_;
 };
 
+/*!
+ * \brief This class is used to request the used UR control version from the robot.
+ */
 class GetUrcontrolVersionRequest : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new GetUrcontrolVersionRequest object.
+   */
   GetUrcontrolVersionRequest() : RTDEPackage(PackageType::RTDE_GET_URCONTROL_VERSION)
   {
   }
   virtual ~GetUrcontrolVersionRequest() = default;
 
+  /*!
+   * \brief Generates a serialized package.
+   *
+   * \param buffer Buffer to fill with the serialization
+   *
+   * \returns The total size of the serialized package
+   */
   static size_t generateSerializedRequest(uint8_t* buffer);
 
 private:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
index e365381..dc9c8f5 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
@@ -38,6 +38,9 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief Possible package types
+ */
 enum class PackageType : uint8_t
 {
   RTDE_REQUEST_PROTOCOL_VERSION = 86,       // ascii V
@@ -50,6 +53,9 @@ enum class PackageType : uint8_t
   RTDE_CONTROL_PACKAGE_PAUSE = 80           // ascii P
 };
 
+/*!
+ * \brief This class represents the header for RTDE packages.
+ */
 class PackageHeader
 {
 public:
@@ -57,11 +63,27 @@ public:
   virtual ~PackageHeader() = default;
   using _package_size_type = uint16_t;
 
+  /*!
+   * \brief Reads a buffer, interpreting the next bytes as the size of the contained package.
+   *
+   * \param buf The given byte stream containing a serialized package
+   *
+   * \returns The size of the given serialized package
+   */
   static size_t getPackageLength(uint8_t* buf)
   {
     return be16toh(*(reinterpret_cast<_package_size_type*>(buf)));
   }
 
+  /*!
+   * \brief Creates a serialization of a header based on given values.
+   *
+   * \param buffer The buffer to write the serialization to
+   * \param package_type The type of the package
+   * \param payload_length The length of the package's payload
+   *
+   * \returns
+   */
   static size_t serializeHeader(uint8_t* buffer, PackageType package_type, uint16_t payload_length)
   {
     uint16_t header_size = sizeof(_package_size_type) + sizeof(PackageType);
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h
index 3082d3c..515f2a1 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h
@@ -35,29 +35,63 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief This class handles the robot's response after trying to set the used RTDE protocol version.
+ */
 class RequestProtocolVersion : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new RequestProtocolVersion object.
+   */
   RequestProtocolVersion() : RTDEPackage(PackageType::RTDE_REQUEST_PROTOCOL_VERSION)
   {
   }
   virtual ~RequestProtocolVersion() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint8_t accepted_;
 };
 
+/*!
+ * \brief This class handles producing a request towards the robot to use a specific RTDE protocol
+ * version.
+ */
 class RequestProtocolVersionRequest : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new RequestProtocolVersionRequest object.
+   */
   RequestProtocolVersionRequest() : RTDEPackage(PackageType::RTDE_REQUEST_PROTOCOL_VERSION)
   {
   }
 
   virtual ~RequestProtocolVersionRequest() = default;
 
+  /*!
+   * \brief Generates a serialized package.
+   *
+   * \param buffer Buffer to fill with the serialization
+   * \param version RTDE protocol version to request usage of
+   *
+   * \returns The total size of the serialized package
+   */
   static size_t generateSerializedRequest(uint8_t* buffer, uint16_t version);
 
   uint16_t protocol_version_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
index 3264870..6b417fa 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
@@ -48,22 +48,64 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief The RTDEClient class manages communication over the RTDE interface. It contains the RTDE
+ * handshake and read and write functionality to and from the robot.
+ */
 class RTDEClient
 {
 public:
   RTDEClient() = delete;
+  /*!
+   * \brief Creates a new RTDEClient object, including a used URStream and Pipeline to handle the
+   * communication with the robot.
+   *
+   * \param robot_ip The IP of the robot
+   * \param notifier The notifier to use in the pipeline
+   * \param output_recipe_file Path to the file containing the output recipe
+   * \param input_recipe_file Path to the file containing the input recipe
+   */
   RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& output_recipe_file,
              const std::string& input_recipe_file);
   ~RTDEClient() = default;
+  /*!
+   * \brief Sets up RTDE communication with the robot. The handshake includes negotiation of the
+   * used protocol version and setting of input and output recipes.
+   *
+   * \returns Success of the handshake
+   */
   bool init();
+  /*!
+   * \brief Triggers the robot to start sending RTDE data packages in the negotiated format.
+   *
+   * \returns Success of the requested start
+   */
   bool start();
+  /*!
+   * \brief Reads the pipeline to fetch the next data package.
+   *
+   * \param data_package Pointer to set to the next data package
+   * \param timeout Time to wait if no data package is currently in the queue
+   *
+   * \returns True, if a package was fetched successfully
+   */
   bool getDataPackage(std::unique_ptr<comm::URPackage<PackageHeader>>& data_package, std::chrono::milliseconds timeout);
 
+  /*!
+   * \brief Getter for the frequency the robot will publish RTDE data packages with.
+   *
+   * \returns The used frequency
+   */
   double getMaxFrequency() const
   {
     return max_frequency_;
   }
 
+  /*!
+   * \brief Getter for the UR control version received from the robot.
+   *
+   * \returns The VersionInformation received from the robot
+   */
   VersionInformation getVersion()
   {
     return urcontrol_version_;
@@ -76,6 +118,12 @@ public:
    */
   std::string getIP() const;
 
+  /*!
+   * \brief Getter for the RTDE writer, which is used to send data via the RTDE interface to the
+   * robot.
+   *
+   * \returns A reference to the used RTDEWriter
+   */
   RTDEWriter& getWriter();
 
 private:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h
index a921e96..f0533d5 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h
@@ -51,7 +51,20 @@ public:
   }
   virtual ~RTDEPackage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
 protected:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h
index 5970b0e..caac14b 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h
@@ -38,15 +38,33 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief The RTDE specific parser. Interprets a given byte stream as serialized RTDE packages
+ * and parses it accordingly.
+ */
 class RTDEParser : public comm::Parser<PackageHeader>
 {
 public:
   RTDEParser() = delete;
+  /*!
+   * \brief Creates a new RTDEParser object, registering the used recipe.
+   *
+   * \param recipe The recipe used in RTDE data communication
+   */
   RTDEParser(const std::vector<std::string>& recipe) : recipe_(recipe), protocol_version_(1)
   {
   }
   virtual ~RTDEParser() = default;
 
+  /*!
+   * \brief Uses the given BinParser to create package objects from the contained serialization.
+   *
+   * \param bp A BinParser holding one or more serialized RTDE packages
+   * \param results A vector of pointers to created RTDE package objects
+   *
+   * \returns True, if the byte stream could successfully be parsed as RTDE packages, false
+   * otherwise
+   */
   bool parse(comm::BinParser& bp, std::vector<std::unique_ptr<comm::URPackage<PackageHeader>>>& results)
 
   {
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h
index 280e978..243cc76 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h
@@ -39,19 +39,78 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief The RTDEWriter class offers an abstraction layer to send data to the robot via the RTDE
+ * interface. Several simple to use functions to create data packages to send exist, which are
+ * then sent to the robot in an additional thread.
+ */
 class RTDEWriter
 {
 public:
   RTDEWriter() = delete;
+  /*!
+   * \brief Creates a new RTDEWriter object using a given URStream and recipe.
+   *
+   * \param stream The URStream to use for communication with the robot
+   * \param recipe The recipe to use for communication
+   */
   RTDEWriter(comm::URStream<PackageHeader>* stream, const std::vector<std::string>& recipe);
   ~RTDEWriter() = default;
+  /*!
+   * \brief Starts the writer thread, which periodically clears the queue to write packages to the
+   * robot.
+   *
+   * \param recipe_id The recipe id to use, so the robot correctly identifies the used recipe
+   */
   void init(uint8_t recipe_id);
+  /*!
+   * \brief The writer thread loop, continually serializing and sending packages to the robot.
+   */
   void run();
 
+  /*!
+   * \brief Creates a package to request setting a new value for the speed slider.
+   *
+   * \param speed_slider_fraction The new speed slider fraction as a value between 0.0 and 1.0
+   *
+   * \returns Success of the package creation
+   */
   bool sendSpeedSlider(double speed_slider_fraction);
+  /*!
+   * \brief Creates a package to request setting a new value for one of the standard digital output pins.
+   *
+   * \param output_pin The pin to change
+   * \param value The new value
+   *
+   * \returns Success of the package creation
+   */
   bool sendStandardDigitalOutput(uint8_t output_pin, bool value);
+  /*!
+   * \brief Creates a package to request setting a new value for one of the configurable digital output pins.
+   *
+   * \param output_pin The pin to change
+   * \param value The new value
+   *
+   * \returns Success of the package creation
+   */
   bool sendConfigurableDigitalOutput(uint8_t output_pin, bool value);
+  /*!
+   * \brief Creates a package to request setting a new value for one of the tool output pins.
+   *
+   * \param output_pin The pin to change
+   * \param value The new value
+   *
+   * \returns Success of the package creation
+   */
   bool sendToolDigitalOutput(uint8_t output_pin, bool value);
+  /*!
+   * \brief Creates a package to request setting a new value for one of the standard analog output pins.
+   *
+   * \param output_pin The pin to change
+   * \param value The new value
+   *
+   * \returns Success of the package creation
+   */
   bool sendStandardAnalogOutput(uint8_t output_pin, double value);
 
 private:
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h
index 7b34d93..f230ed3 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h
@@ -34,16 +34,37 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
+/*!
+ * \brief This class handles RTDE text messages sent by the robot.
+ */
 class TextMessage : public RTDEPackage
 {
 public:
+  /*!
+   * \brief Creates a new TextMessage object.
+   *
+   * \param protocol_version Protocol version used for the RTDE communication
+   */
   TextMessage(uint16_t protocol_version)
     : RTDEPackage(PackageType::RTDE_TEXT_MESSAGE), protocol_version_(protocol_version)
   {
   }
   virtual ~TextMessage() = default;
 
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
   virtual bool parseWith(comm::BinParser& bp);
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
   virtual std::string toString() const;
 
   uint8_t message_length_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/calibration_checker.h b/ur_rtde_driver/include/ur_rtde_driver/ur/calibration_checker.h
index 81b823d..83f2ad7 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/calibration_checker.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/calibration_checker.h
@@ -33,27 +33,63 @@
 
 namespace ur_driver
 {
+/*!
+ * \brief The CalibrationChecker class consumes primary packages ignoring all but KinematicsInfo
+ * packages. These are then checked against the used kinematics to see if the correct calibration
+ * is used.
+ */
 class CalibrationChecker : public comm::IConsumer<comm::URPackage<primary_interface::PackageHeader>>
 {
 public:
+  /*!
+   * \brief Creates a new CalibrationChecker object with an expected hash calculated from the used
+   * kinematics.
+   *
+   * \param expected_hash The expected kinematics hash
+   */
   CalibrationChecker(const std::string& expected_hash);
   virtual ~CalibrationChecker() = default;
 
+  /*!
+   * \brief Empty setup function, as no setup is needed.
+   */
   virtual void setupConsumer()
   {
   }
+  /*!
+   * \brief Tears down the consumer.
+   */
   virtual void teardownConsumer()
   {
   }
+  /*!
+   * \brief Stops the consumer.
+   */
   virtual void stopConsumer()
   {
   }
+  /*!
+   * \brief Handles timeouts.
+   */
   virtual void onTimeout()
   {
   }
 
+  /*!
+   * \brief Consumes a package, checking its hash if it is a KinematicsInfo package. If the hash
+   * does not match the expected hash, an error is logged.
+   *
+   * \param product The package to consume
+   *
+   * \returns True, if the package was consumed correctly
+   */
   virtual bool consume(std::shared_ptr<comm::URPackage<primary_interface::PackageHeader>> product);
 
+  /*!
+   * \brief Used to make sure the calibration check is not performed several times.
+   *
+   * \returns True, if the calibration was already checked, false otherwise
+   */
   bool isChecked()
   {
     return checked_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/tool_communication.h b/ur_rtde_driver/include/ur_rtde_driver/ur/tool_communication.h
index 85b9228..a2cdb9e 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/tool_communication.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/tool_communication.h
@@ -34,13 +34,19 @@
 
 namespace ur_driver
 {
+/*!
+ * \brief Possible values for the tool voltage
+ */
 enum class ToolVoltage : int
 {
-  OFF = 0,
-  _12V = 12,
-  _24V = 24
+  OFF = 0,    ///< 0V
+  _12V = 12,  ///< 12V
+  _24V = 24   ///< 24V
 };
 
+/*!
+ * \brief Possible values for th parity flag
+ */
 enum class Parity : int
 {
   NONE = 0,
@@ -62,11 +68,24 @@ public:
 
   using Datatype = T;
 
+  /*!
+   * \brief Create a new Limited object
+   *
+   * \param lower Lower boundary used for this Limited object
+   * \param upper Upper boundary used for this Limited object
+   */
   Limited(const T lower, const T upper) : lower_(lower), upper_(upper)
   {
     data_ = lower_;
   }
 
+  /*!
+   * \brief Set the data field with a given value
+   *
+   * If the given value is out of the configured range, an exception is thrown.
+   *
+   * \param data
+   */
   void setData(const T data)
   {
     if (data >= lower_ && data <= upper_)
@@ -79,6 +98,9 @@ public:
     }
   }
 
+  /*!
+   * \brief Returns the data stored in this object
+   */
   T getData() const
   {
     return data_;
@@ -103,59 +125,110 @@ public:
   using RxIdleCharsT = Limited<float>;
   using TxIdleCharsT = Limited<float>;
 
+  /*!
+   * \brief Setup the tool voltage that will be configured on the robot. This will not immediately
+   * change values on the robot, it will only be stored inside the ToolCommSetup object.
+   */
   void setToolVoltage(const ToolVoltage tool_voltage)
   {
     tool_voltage_ = tool_voltage;
   }
+
+  /*!
+   * \brief Return the tool voltage currently stored
+   */
   ToolVoltage getToolVoltage() const
   {
     return tool_voltage_;
   }
 
+  /*!
+   * \brief Setup the tool communication parity that will be configured on the robot. This will not immediately
+   * change values on the robot, it will only be stored inside the ToolCommSetup object.
+   */
   void setParity(const Parity parity)
   {
     parity_ = parity;
   }
+  /*!
+   * \brief Return the parity currently stored
+   */
   Parity getParity() const
   {
     return parity_;
   }
 
+  /*!
+   * \brief Setup the tool communication baud rate that will be configured on the robot. This will not immediately
+   * change values on the robot, it will only be stored inside the ToolCommSetup object.
+   *
+   * \param baud_rate must be one of baud_rates_allowed_ or an exception will be thrown
+   */
   void setBaudRate(const uint32_t baud_rate);
+  /*!
+   * \brief Return the baud rate currently stored
+   */
   uint32_t getBaudRate() const
   {
     return baud_rate_;
   };
 
+  /*!
+   * \brief Setup the tool communication number of stop bits that will be configured on the robot. This will not
+   * immediately change values on the robot, it will only be stored inside the ToolCommSetup object.
+   *
+   * \param stop_bits must be inside [1,2] or this will throw an exception.
+   */
   void setStopBits(const StopBitsT::Datatype stop_bits)
   {
     stop_bits_.setData(stop_bits);
   }
+  /*!
+   * \brief Return the number of stop bits currently stored
+   */
   StopBitsT::Datatype getStopBits() const
   {
     return stop_bits_.getData();
   }
 
+  /*!
+   * \brief Setup the tool communication number of idle chars for the rx channel that will be configured on the robot.
+   * This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.
+   *
+   * \param rx_idle_chars must be inside [1.0, 40] or this will throw an exception.
+   */
   void setRxIdleChars(const RxIdleCharsT::Datatype rx_idle_chars)
   {
     rx_idle_chars_.setData(rx_idle_chars);
   }
+  /*!
+   * \brief Return the number of rx idle chars currently stored
+   */
   RxIdleCharsT::Datatype getRxIdleChars() const
   {
     return rx_idle_chars_.getData();
   }
 
+  /*!
+   * \brief Setup the tool communication number of idle chars for the tx channel that will be configured on the robot.
+   * This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.
+   *
+   * \param tx_idle_chars must be inside [0.0, 40] or this will throw an exception.
+   */
   void setTxIdleChars(const TxIdleCharsT::Datatype tx_idle_chars)
   {
     tx_idle_chars_.setData(tx_idle_chars);
   }
+  /*!
+   * \brief Return the number of tx idle chars currently stored
+   */
   TxIdleCharsT::Datatype getTxIdleChars() const
   {
     return tx_idle_chars_.getData();
   }
 
 private:
-  const std::set<uint32_t> baud_rates_{ 9600, 19200, 38400, 57600, 115200, 10000000, 2000000, 5000000 };
+  const std::set<uint32_t> baud_rates_allowed_{ 9600, 19200, 38400, 57600, 115200, 10000000, 2000000, 5000000 };
 
   ToolVoltage tool_voltage_;
   Parity parity_;
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
index 554cde0..90b6c8f 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
@@ -49,8 +49,13 @@ public:
    * \brief Constructs a new UrDriver object.
    *
    * \param robot_ip IP-address under which the robot is reachable.
-   * \param script_file URScript file that should be sent to the robot
-   * \param tool_comm_setup Configuration for using the tool communication
+   * \param script_file URScript file that should be sent to the robot.
+   * \param output_recipe_file Filename where the output recipe is stored in.
+   * \param input_recipe_file Filename where the input recipe is stored in.
+   * \param handle_program_state Function handle to a callback on program state changes.
+   * \param tool_comm_setup Configuration for using the tool communication.
+   * \param calibration_checksum Expected checksum of calibration. Will be matched against the
+   * calibration reported by the robot.
    */
   UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
            const std::string& input_recipe_file, std::function<void(bool)> handle_program_state,
@@ -59,7 +64,12 @@ public:
    * \brief Constructs a new UrDriver object.
    *
    * \param robot_ip IP-address under which the robot is reachable.
-   * \param script_file URScript file that should be sent to the robot
+   * \param script_file URScript file that should be sent to the robot.
+   * \param output_recipe_file Filename where the output recipe is stored in.
+   * \param input_recipe_file Filename where the input recipe is stored in.
+   * \param handle_program_state Function handle to a callback on program state changes.
+   * \param calibration_checksum Expected checksum of calibration. Will be matched against the
+   * calibration reported by the robot.
    */
   UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
            const std::string& input_recipe_file, std::function<void(bool)> handle_program_state,
@@ -113,10 +123,24 @@ public:
    */
   bool stopControl();
 
+  /*!
+   * \brief Starts the watchdog checking if the URCaps program is running on the robot and it is
+   * ready to receive control commands.
+   */
   void startWatchdog();
 
+  /*!
+   * \brief Checks if the kinematics information in the used model fits the actual robot.
+   *
+   * \param checksum Hash of the used kinematics information
+   */
   void checkCalibration(const std::string& checksum);
 
+  /*!
+   * \brief Getter for the RTDE writer used to write to the robot's RTDE interface.
+   *
+   * \returns The active RTDE writer
+   */
   rtde_interface::RTDEWriter& getRTDEWriter();
 
   /*!
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h b/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h
index 1c09a20..7948d9c 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h
@@ -28,8 +28,13 @@
 #ifndef UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
 #define UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
 
+#include <ur_rtde_driver/types.h>
+
 namespace ur_driver
 {
+/*!
+ * \brief Struct containing a robot's version information
+ */
 struct VersionInformation
 {
   VersionInformation()
@@ -39,10 +44,10 @@ struct VersionInformation
     bugfix = 0;
     build = 0;
   }
-  uint32_t major;
-  uint32_t minor;
-  uint32_t bugfix;
-  uint32_t build;
+  uint32_t major;   ///< Major version number
+  uint32_t minor;   ///< Minor version number
+  uint32_t bugfix;  ///< Bugfix version number
+  uint32_t build;   ///< Build number
 };
 }  // namespace ur_driver
 
diff --git a/ur_rtde_driver/package.xml b/ur_rtde_driver/package.xml
index b69aa00..7cf7a0d 100644
--- a/ur_rtde_driver/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -7,6 +7,8 @@
   <author>Thomas Timm Andersen</author>
   <author>Simon Rasmussen</author>
   <author>Felix Mauch</author>
+  <author>Lea Steffen</author>
+  <author>Tristan Schnell</author>
   <maintainer email="mauch@fzi.de">Felix Mauch</maintainer>
   <license>Apache 2.0</license>
   <license>BSD 2-clause</license>
@@ -45,7 +47,7 @@
   <exec_depend>velocity_controllers</exec_depend>
 
   <export>
-    <rosdoc config="rosdoc.yaml" />
+    <rosdoc config="doc/rosdoc.yaml" />
   </export>
 
 </package>
diff --git a/ur_rtde_driver/src/ur/tool_communication.cpp b/ur_rtde_driver/src/ur/tool_communication.cpp
index df87740..fade5ea 100644
--- a/ur_rtde_driver/src/ur/tool_communication.cpp
+++ b/ur_rtde_driver/src/ur/tool_communication.cpp
@@ -41,7 +41,7 @@ ToolCommSetup::ToolCommSetup()
 
 void ToolCommSetup::setBaudRate(const uint32_t baud_rate)
 {
-  if (baud_rates_.find(baud_rate) != baud_rates_.end())
+  if (baud_rates_allowed_.find(baud_rate) != baud_rates_allowed_.end())
   {
     baud_rate_ = baud_rate;
   }