diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e36175c3a..53e67b817 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -14,6 +14,7 @@ jobs:
         uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-enabled: true
+          doxygen-enabled: true
   focal-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 855baa6fb..0b018e0cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,14 +109,15 @@ ign_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
   TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
   ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/plugins"
+  IMAGE_PATH_DIRS "${CMAKE_SOURCE_DIR}/tutorials/images"
   TAGFILES
-   "${CMAKE_SOURCE_DIR}/doc/qt.tag.xml=http://doc.qt.io/qt-5/"
-   "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
-   "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
-   "${IGNITION-RENDERING_DOXYGEN_TAGFILE} = ${IGNITION-RENDERING_API_URL}"
-   "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
-   "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
-  )
+    "${CMAKE_SOURCE_DIR}/doc/qt.tag.xml=http://doc.qt.io/qt-5/"
+    "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
+    "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
+    "${IGNITION-RENDERING_DOXYGEN_TAGFILE} = ${IGNITION-RENDERING_API_URL}"
+    "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
+    "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
+)
 
 if(TARGET doc)
   file(COPY ${CMAKE_SOURCE_DIR}/tutorials/images/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/images/)
diff --git a/Changelog.md b/Changelog.md
index de0d86559..0267e7f02 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -69,6 +69,23 @@
 
 ### Ignition Gui 5.X.X (20XX-XX-XX)
 
+### Ignition Gui 5.3.0 (2021-10-13)
+
+1. Improved doxygen
+    * [Pull request #275](https://github.com/ignitionrobotics/ign-gui/pull/275)
+
+1. Fix memory leak
+    * [Pull request #287](https://github.com/ignitionrobotics/ign-gui/pull/287)
+
+1. Add a filter to the plugin menu
+    * [Pull request #277](https://github.com/ignitionrobotics/ign-gui/pull/277)
+
+1. 👩‍🌾 Remove bitbucket-pipelines.yml
+    * [Pull request #274](https://github.com/ignitionrobotics/ign-gui/pull/274)
+
+1. Fix doc build error
+    * [Pull request #266](https://github.com/ignitionrobotics/ign-gui/pull/266)
+
 ### Ignition Gui 5.2.0 (2021-07-27)
 
 1. New teleop plugin implementation.
@@ -332,6 +349,23 @@
 
 ### Ignition Gui 3.X.X (202X-XX-XX)
 
+### Ignition Gui 3.8.0 (2021-10-12)
+
+1. Improved doxygen
+    * [Pull request #275](https://github.com/ignitionrobotics/ign-gui/pull/275)
+
+1. Add a filter to the plugin menu
+    * [Pull request #277](https://github.com/ignitionrobotics/ign-gui/pull/277)
+
+1. 👩‍🌾 Remove bitbucket-pipelines.yml
+    * [Pull request #274](https://github.com/ignitionrobotics/ign-gui/pull/274)
+
+1. Require ign-rendering 3.5
+    * [Pull request #264](https://github.com/ignitionrobotics/ign-gui/pull/264)
+
+1. New teleop plugin implementation.
+    * [Pull request #245](https://github.com/ignitionrobotics/ign-gui/pull/245)
+
 ### Ignition Gui 3.7.0 (2021-07-14)
 
 1. Fix codeowners
diff --git a/include/ignition/gui/Application.hh b/include/ignition/gui/Application.hh
index 21a97ed71..db9fd4513 100644
--- a/include/ignition/gui/Application.hh
+++ b/include/ignition/gui/Application.hh
@@ -96,11 +96,11 @@ namespace ignition
       /// and plugins. This function doesn't instantiate the plugins, it just
       /// keeps them in memory and they can be applied later by either
       /// instantiating a window or several dialogs.
-      /// \param[in] _config Full path to configuration file.
+      /// \param[in] _path Full path to configuration file.
       /// \return True if successful
       /// \sa InitializeMainWindow
       /// \sa InitializeDialogs
-      public: bool LoadConfig(const std::string &_config);
+      public: bool LoadConfig(const std::string &_path);
 
       /// \brief Load the configuration from the default config file.
       /// \return True if successful
diff --git a/include/ignition/gui/GuiEvents.hh b/include/ignition/gui/GuiEvents.hh
index 8b0c2f469..86fac1fad 100644
--- a/include/ignition/gui/GuiEvents.hh
+++ b/include/ignition/gui/GuiEvents.hh
@@ -92,7 +92,7 @@ namespace ignition
       class IGNITION_GUI_VISIBLE SpawnFromDescription : public QEvent
       {
         /// \brief Constructor
-        /// \param[in] _string The resource's description as a string, such
+        /// \param[in] _description The resource's description as a string, such
         /// as an SDF file.
         public: explicit SpawnFromDescription(const std::string &_description);
 
@@ -368,7 +368,7 @@ namespace ignition
       class IGNITION_GUI_VISIBLE DropOnScene : public QEvent
       {
         /// \brief Constructor
-        /// \param[in] _drop Dropped string.
+        /// \param[in] _dropText Dropped string.
         /// \param[in] _dropMouse x and y  coordinate of mouse position.
         public: explicit DropOnScene(
           const std::string &_dropText,
diff --git a/include/ignition/gui/PlottingInterface.hh b/include/ignition/gui/PlottingInterface.hh
index 9e0a2ed17..9f463202f 100644
--- a/include/ignition/gui/PlottingInterface.hh
+++ b/include/ignition/gui/PlottingInterface.hh
@@ -63,7 +63,7 @@ class IGNITION_GUI_VISIBLE PlotData
   public: double Value() const;
 
   /// \brief Set the field arrival time
-  /// \param[in] _value arrival time to set it
+  /// \param[in] _time arrival time to set it
   public: void SetTime(const double _time);
 
   /// \brief Get the arrival time
@@ -273,7 +273,6 @@ class IGNITION_GUI_VISIBLE PlottingInterface : public QObject
   /// \brief called by Qml to remove a chart from a component attribute
   /// \param[in] _entity entity id which has the component
   /// \param[in] _typeId component type id
-  /// \param[in] _type component data type
   /// \param[in] _attribute component specefice attribte
   /// \param[in] _chart chart id
   public slots: void onComponentUnSubscribe(QString _entity,
@@ -296,7 +295,6 @@ class IGNITION_GUI_VISIBLE PlottingInterface : public QObject
   /// \brief Notify the gazebo plugin to unsubscribe a component data
   /// \param[in] _entity entity id which has the component
   /// \param[in] _typeId component type id
-  /// \param[in] _type component data type
   /// \param[in] _attribute component specefice attribte
   /// \param[in] _chart chart id
   signals: void ComponentUnSubscribe(uint64_t _entity,
@@ -338,4 +336,3 @@ class IGNITION_GUI_VISIBLE PlottingInterface : public QObject
 }
 
 #endif
-
diff --git a/include/ignition/gui/Plugin.hh b/include/ignition/gui/Plugin.hh
index 07c69d600..b943b1e0d 100644
--- a/include/ignition/gui/Plugin.hh
+++ b/include/ignition/gui/Plugin.hh
@@ -102,7 +102,10 @@ namespace ignition
       /// \sa Load
       /// \param[in] _pluginElem Element containing configuration
       protected: virtual void LoadConfig(
-          const tinyxml2::XMLElement * /*_pluginElem*/) {}
+          const tinyxml2::XMLElement *_pluginElem)
+          {
+            (void)_pluginElem;
+          }
 
       /// \brief Get title
       /// \return Plugin title.
diff --git a/src/plugins/grid_config/GridConfig.hh b/src/plugins/grid_config/GridConfig.hh
index 48a357d46..859e8f4a5 100644
--- a/src/plugins/grid_config/GridConfig.hh
+++ b/src/plugins/grid_config/GridConfig.hh
@@ -49,7 +49,6 @@ namespace gui
     public: void UpdateGrid();
 
     /// \brief Callback to retrieve existing grid or create a new one.
-    /// \param[in] _scene Scene to look for grid.
     public: void LoadGrid();
 
     /// \brief Callback to update vertical cell count
diff --git a/src/plugins/image_display/ImageDisplay.cc b/src/plugins/image_display/ImageDisplay.cc
index 93a2ab9b6..0c736a139 100644
--- a/src/plugins/image_display/ImageDisplay.cc
+++ b/src/plugins/image_display/ImageDisplay.cc
@@ -212,6 +212,8 @@ void ImageDisplay::ProcessImage()
         image.setPixel(i, j, value);
       }
     }
+
+    delete [] data;
   }
 
   this->dataPtr->provider->SetImage(image);
diff --git a/src/plugins/key_publisher/KeyPublisher.hh b/src/plugins/key_publisher/KeyPublisher.hh
index 759248882..38ecdd2e5 100644
--- a/src/plugins/key_publisher/KeyPublisher.hh
+++ b/src/plugins/key_publisher/KeyPublisher.hh
@@ -46,7 +46,8 @@ namespace gui
     public: virtual ~KeyPublisher();
 
     // Documentation inherited
-    public: virtual void LoadConfig(const tinyxml2::XMLElement *) override;
+    public: virtual void LoadConfig(
+      const tinyxml2::XMLElement *_pluginElem) override;
 
     /// \brief Filter events in Qt
     /// \param[in] _obj The watched object
diff --git a/src/plugins/minimal_scene/MinimalScene.hh b/src/plugins/minimal_scene/MinimalScene.hh
index 5dcb1f929..49b72198b 100644
--- a/src/plugins/minimal_scene/MinimalScene.hh
+++ b/src/plugins/minimal_scene/MinimalScene.hh
@@ -238,9 +238,10 @@ namespace plugins
     /// \brief Constructor
     public: RenderThread();
 
+    /// \brief Render when safe
     /// \param[in] _renderSync RenderSync to safely
     /// synchronize Qt and worker thread (this)
-    public slots: void RenderNext(RenderSync *renderSync);
+    public slots: void RenderNext(RenderSync *_renderSync);
 
     /// \brief Shutdown the thread and the render engine
     public slots: void ShutDown();
@@ -389,6 +390,8 @@ namespace plugins
   {
     Q_OBJECT
 
+    /// \brief Constructor
+    /// \param[in] _window Window to display the texture
     /// \param[in] _renderSync RenderSync to safely
     /// synchronize Qt (this) and worker thread
     public: explicit TextureNode(QQuickWindow *_window,
diff --git a/tutorials/03_plugins.md b/tutorials/03_plugins.md
index 5c916d85b..df98479ef 100644
--- a/tutorials/03_plugins.md
+++ b/tutorials/03_plugins.md
@@ -48,11 +48,11 @@ Publish messages on an Ignition Transport topic.
 
         ign topic -e -t /echo
 
-1. On a new terminal, open the publisher GUI:
+2. On a new terminal, open the publisher GUI:
 
         ign gui -s Publisher
 
-1. The GUI is pre-filled to publish "Hello" messages on the `/echo` topic.
+3. The GUI is pre-filled to publish "Hello" messages on the `/echo` topic.
    Click "Publish" to publish a message and see it on the terminal.
 
 ### World stats and control
@@ -101,7 +101,7 @@ plugins.
 
     ign gui -c examples/config/reqres.config
 
-### Displays {#display-plugins}
+### Displays
 
 **Not ported to versions 1 or higher yet**
 
@@ -119,5 +119,5 @@ Ignition GUI will look for display plugins on the following paths, in this
 order:
 
 1. All paths set on the `IGN_GUI_DISPLAY_PLUGIN_PATH` environment variable
-1. `~/.ignition/gui/display_plugins`
-1. [Display plugins that are installed with Ignition GUI](https://ignitionrobotics.org/api/gui/0.1/namespaceignition_1_1gui_1_1display_plugins.html)
+2. `~/.ignition/gui/display_plugins`
+3. [Display plugins that are installed with Ignition GUI](https://ignitionrobotics.org/api/gui/0.1/namespaceignition_1_1gui_1_1display_plugins.html)