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..7c7b8b4 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
@@ -59,18 +59,38 @@ 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);
 
   /*!