diff --git a/rcl/Doxyfile b/rcl/Doxyfile
index 30dbcae3c..60f139b5a 100644
--- a/rcl/Doxyfile
+++ b/rcl/Doxyfile
@@ -8,7 +8,6 @@ INPUT                  = ./include
 RECURSIVE              = YES
 OUTPUT_DIRECTORY       = doc_output
 
-EXTRACT_ALL            = YES
 SORT_MEMBER_DOCS       = NO
 
 GENERATE_LATEX         = NO
diff --git a/rcl/include/rcl/client.h b/rcl/include/rcl/client.h
index df5d72b6f..97dade4f2 100644
--- a/rcl/include/rcl/client.h
+++ b/rcl/include/rcl/client.h
@@ -32,6 +32,7 @@ struct rcl_client_impl_t;
 /// Structure which encapsulates a ROS Client.
 typedef struct rcl_client_t
 {
+  /// Pointer to the client implementation
   struct rcl_client_impl_t * impl;
 } rcl_client_t;
 
diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h
index 10a279e6a..63a7bad3e 100644
--- a/rcl/include/rcl/event.h
+++ b/rcl/include/rcl/event.h
@@ -51,6 +51,7 @@ struct rcl_event_impl_t;
 /// Structure which encapsulates a ROS QoS event handle.
 typedef struct rcl_event_t
 {
+  /// Pointer to the event implementation
   struct rcl_event_impl_t * impl;
 } rcl_event_t;
 
diff --git a/rcl/include/rcl/guard_condition.h b/rcl/include/rcl/guard_condition.h
index 321965caf..9f40ccd6c 100644
--- a/rcl/include/rcl/guard_condition.h
+++ b/rcl/include/rcl/guard_condition.h
@@ -35,6 +35,7 @@ typedef struct rcl_guard_condition_t
   /// Context associated with this guard condition.
   rcl_context_t * context;
 
+  /// Pointer to the guard condition implementation
   struct rcl_guard_condition_impl_t * impl;
 } rcl_guard_condition_t;
 
diff --git a/rcl/include/rcl/lexer_lookahead.h b/rcl/include/rcl/lexer_lookahead.h
index a72f80b86..d50166e3f 100644
--- a/rcl/include/rcl/lexer_lookahead.h
+++ b/rcl/include/rcl/lexer_lookahead.h
@@ -34,6 +34,7 @@ struct rcl_lexer_lookahead2_impl_t;
 /// Track lexical analysis and allow looking ahead 2 lexemes.
 typedef struct rcl_lexer_lookahead2_t
 {
+  /// Pointer to the lexer look ahead2 implementation
   struct rcl_lexer_lookahead2_impl_t * impl;
 } rcl_lexer_lookahead2_t;
 
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
index aeca4bb12..3c274d95a 100644
--- a/rcl/include/rcl/publisher.h
+++ b/rcl/include/rcl/publisher.h
@@ -32,6 +32,7 @@ struct rcl_publisher_impl_t;
 /// Structure which encapsulates a ROS Publisher.
 typedef struct rcl_publisher_t
 {
+  /// Pointer to the publisher implementation
   struct rcl_publisher_impl_t * impl;
 } rcl_publisher_t;
 
diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
index 78c16a608..a73cb3802 100644
--- a/rcl/include/rcl/service.h
+++ b/rcl/include/rcl/service.h
@@ -32,6 +32,7 @@ struct rcl_service_impl_t;
 /// Structure which encapsulates a ROS Service.
 typedef struct rcl_service_t
 {
+  /// Pointer to the service implementation
   struct rcl_service_impl_t * impl;
 } rcl_service_t;
 
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index ccaea82cf..e0d2dce5f 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -34,6 +34,7 @@ struct rcl_subscription_impl_t;
 /// Structure which encapsulates a ROS Subscription.
 typedef struct rcl_subscription_t
 {
+  /// Pointer to the subscription implementation
   struct rcl_subscription_impl_t * impl;
 } rcl_subscription_t;
 
diff --git a/rcl/include/rcl/time.h b/rcl/include/rcl/time.h
index a25086ece..a7bf53864 100644
--- a/rcl/include/rcl/time.h
+++ b/rcl/include/rcl/time.h
@@ -67,6 +67,7 @@ typedef enum rcl_clock_type_t
 /// A duration of time, measured in nanoseconds and its source.
 typedef struct rcl_duration_t
 {
+  /// Duration in nanoseconds and its source.
   rcl_duration_value_t nanoseconds;
 } rcl_duration_t;
 
@@ -118,29 +119,38 @@ typedef struct rcl_jump_threshold_t
 /// Struct to describe an added callback.
 typedef struct rcl_jump_callback_info_t
 {
+  /// Callback to fucntion.
   rcl_jump_callback_t callback;
+  /// Threshold to decide when to call the callback.
   rcl_jump_threshold_t threshold;
+  /// Pointer passed to the callback.
   void * user_data;
 } rcl_jump_callback_info_t;
 
 /// Encapsulation of a time source.
 typedef struct rcl_clock_t
 {
+  /// Clock type
   enum rcl_clock_type_t type;
   /// An array of added jump callbacks.
   rcl_jump_callback_info_t * jump_callbacks;
   /// Number of callbacks in jump_callbacks.
   size_t num_jump_callbacks;
+  /// Pointer to get_now function
   rcl_ret_t (* get_now)(void * data, rcl_time_point_value_t * now);
   // void (*set_now) (rcl_time_point_value_t);
+  /// Clock storage
   void * data;
+  /// Custom allocator used for internal allocations.
   rcl_allocator_t allocator;
 } rcl_clock_t;
 
 /// A single point in time, measured in nanoseconds, the reference point is based on the source.
 typedef struct rcl_time_point_t
 {
+  /// Nanoseconds of the point in time
   rcl_time_point_value_t nanoseconds;
+  /// Clock type of the point in time
   rcl_clock_type_t clock_type;
 } rcl_time_point_t;
 
diff --git a/rcl/include/rcl/wait.h b/rcl/include/rcl/wait.h
index 5ca26113f..f900d1107 100644
--- a/rcl/include/rcl/wait.h
+++ b/rcl/include/rcl/wait.h
@@ -40,21 +40,27 @@ typedef struct rcl_wait_set_t
 {
   /// Storage for subscription pointers.
   const rcl_subscription_t ** subscriptions;
+  /// Number of subscriptions
   size_t size_of_subscriptions;
   /// Storage for guard condition pointers.
   const rcl_guard_condition_t ** guard_conditions;
+  /// Number of guard_conditions
   size_t size_of_guard_conditions;
   /// Storage for timer pointers.
   const rcl_timer_t ** timers;
+  /// Number of timers
   size_t size_of_timers;
   /// Storage for client pointers.
   const rcl_client_t ** clients;
+  /// Number of clients
   size_t size_of_clients;
   /// Storage for service pointers.
   const rcl_service_t ** services;
+  /// Number of services
   size_t size_of_services;
   /// Storage for event pointers.
   const rcl_event_t ** events;
+  /// Number of events
   size_t size_of_events;
   /// Implementation specific storage.
   struct rcl_wait_set_impl_t * impl;
diff --git a/rcl_action/Doxyfile b/rcl_action/Doxyfile
index 264d284bc..1a57461b3 100644
--- a/rcl_action/Doxyfile
+++ b/rcl_action/Doxyfile
@@ -8,7 +8,6 @@ INPUT                  = ./include
 RECURSIVE              = YES
 OUTPUT_DIRECTORY       = doc_output
 
-EXTRACT_ALL            = YES
 SORT_MEMBER_DOCS       = NO
 
 GENERATE_LATEX         = NO
@@ -21,7 +20,6 @@ PREDEFINED             += RCL_WARN_UNUSED=
 
 # Uncomment to generate internal documentation.
 ENABLED_SECTIONS       = INTERNAL
-INPUT                  += ./src/rcl/arguments.c
 
 # Tag files that do not exist will produce a warning and cross-project linking will not work.
 TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
diff --git a/rcl_action/include/rcl_action/action_client.h b/rcl_action/include/rcl_action/action_client.h
index c23efb578..430d05e66 100644
--- a/rcl_action/include/rcl_action/action_client.h
+++ b/rcl_action/include/rcl_action/action_client.h
@@ -32,6 +32,7 @@ struct rcl_action_client_impl_t;
 /// Structure which encapsulates a ROS action client.
 typedef struct rcl_action_client_t
 {
+  /// Pointer to the action client implementation
   struct rcl_action_client_impl_t * impl;
 } rcl_action_client_t;
 
@@ -39,10 +40,15 @@ typedef struct rcl_action_client_t
 typedef struct rcl_action_client_options_t
 {
   /// Middleware quality of service settings for the action client.
+  /// Goal service quality of service
   rmw_qos_profile_t goal_service_qos;
+  /// Result service quality of service
   rmw_qos_profile_t result_service_qos;
+  /// Cancel service quality of service
   rmw_qos_profile_t cancel_service_qos;
+  /// Feedback topic quality of service
   rmw_qos_profile_t feedback_topic_qos;
+  /// Status topic quality of service
   rmw_qos_profile_t status_topic_qos;
   /// Custom allocator for the action client, used for incidental allocations.
   /** For default behavior (malloc/free), see: rcl_get_default_allocator() */
diff --git a/rcl_action/include/rcl_action/action_server.h b/rcl_action/include/rcl_action/action_server.h
index df5b4fb6b..79abff41f 100644
--- a/rcl_action/include/rcl_action/action_server.h
+++ b/rcl_action/include/rcl_action/action_server.h
@@ -35,6 +35,7 @@ struct rcl_action_server_impl_t;
 /// Structure which encapsulates a ROS Action Server.
 typedef struct rcl_action_server_t
 {
+  /// Pointer to the action server implementation
   struct rcl_action_server_impl_t * impl;
 } rcl_action_server_t;
 
@@ -42,10 +43,15 @@ typedef struct rcl_action_server_t
 typedef struct rcl_action_server_options_t
 {
   /// Middleware quality of service settings for the action server.
+  /// Goal service quality of service
   rmw_qos_profile_t goal_service_qos;
+  /// Cancel service quality of service
   rmw_qos_profile_t cancel_service_qos;
+  /// Result service quality of service
   rmw_qos_profile_t result_service_qos;
+  /// Feedback topic quality of service
   rmw_qos_profile_t feedback_topic_qos;
+  /// Status topic quality of service
   rmw_qos_profile_t status_topic_qos;
   /// Custom allocator for the action server, used for incidental allocations.
   /** For default behavior (malloc/free), see: rcl_get_default_allocator() */
diff --git a/rcl_action/include/rcl_action/goal_handle.h b/rcl_action/include/rcl_action/goal_handle.h
index c1410a4c6..8fd336776 100644
--- a/rcl_action/include/rcl_action/goal_handle.h
+++ b/rcl_action/include/rcl_action/goal_handle.h
@@ -32,6 +32,7 @@ struct rcl_action_goal_handle_impl_t;
 /// Goal handle for an action.
 typedef struct rcl_action_goal_handle_t
 {
+  /// Pointer to the action goal handle implementation
   struct rcl_action_goal_handle_impl_t * impl;
 } rcl_action_goal_handle_t;
 
diff --git a/rcl_action/include/rcl_action/types.h b/rcl_action/include/rcl_action/types.h
index 47785fea2..d5f60e446 100644
--- a/rcl_action/include/rcl_action/types.h
+++ b/rcl_action/include/rcl_action/types.h
@@ -65,15 +65,19 @@ typedef struct rcl_action_server_t rcl_action_server_t;
 // Typedef generated messages for convenience
 typedef action_msgs__msg__GoalInfo rcl_action_goal_info_t;
 typedef action_msgs__msg__GoalStatus rcl_action_goal_status_t;
+/// Struct with the action goal status array
 typedef struct rcl_action_goal_status_array_t
 {
+  /// Goal status array message
   action_msgs__msg__GoalStatusArray msg;
   /// Allocator used to initialize this struct.
   rcl_allocator_t allocator;
 } rcl_action_goal_status_array_t;
 typedef action_msgs__srv__CancelGoal_Request rcl_action_cancel_request_t;
+/// Struct with the action cancel response
 typedef struct rcl_action_cancel_response_t
 {
+  /// Cancel goal response message
   action_msgs__srv__CancelGoal_Response msg;
   /// Allocator used to initialize this struct.
   rcl_allocator_t allocator;
diff --git a/rcl_lifecycle/Doxyfile b/rcl_lifecycle/Doxyfile
index 8a1a10df3..7576d71da 100644
--- a/rcl_lifecycle/Doxyfile
+++ b/rcl_lifecycle/Doxyfile
@@ -8,7 +8,6 @@ INPUT                  = ./include
 RECURSIVE              = YES
 OUTPUT_DIRECTORY       = doc_output
 
-EXTRACT_ALL            = YES
 SORT_MEMBER_DOCS       = NO
 
 GENERATE_LATEX         = NO
diff --git a/rcl_lifecycle/include/rcl_lifecycle/data_types.h b/rcl_lifecycle/include/rcl_lifecycle/data_types.h
index e6f9a8f71..ab70c9670 100644
--- a/rcl_lifecycle/include/rcl_lifecycle/data_types.h
+++ b/rcl_lifecycle/include/rcl_lifecycle/data_types.h
@@ -26,48 +26,74 @@ extern "C"
 
 typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
 
+/// It contains the state of the lifecycle state machine
 typedef struct rcl_lifecycle_state_t
 {
+  /// String with state name: Unconfigured, Inactive, Active or Finalized
   const char * label;
+  /// Identifier of the state
   unsigned int id;
 
+  /// Pointer to a struct with the valid transitions
   rcl_lifecycle_transition_t * valid_transitions;
+  /// Number of valid transitions
   unsigned int valid_transition_size;
 } rcl_lifecycle_state_t;
 
+/// It contains the transitions of the lifecycle state machine
 typedef struct rcl_lifecycle_transition_t
 {
+  /// String with transition name: configuring, cleaningup, activating, deactivating,
+  /// errorprocessing or shuttingdown.
   const char * label;
+  /// Identifier of the transition
   unsigned int id;
+  /// The value where the transition is initialized
   rcl_lifecycle_state_t * start;
+  /// The objetive of the transition
   rcl_lifecycle_state_t * goal;
 } rcl_lifecycle_transition_t;
 
+/// It contains the transition map states and transitions
 typedef struct rcl_lifecycle_transition_map_t
 {
+  /// States used to generate the transition map
   rcl_lifecycle_state_t * states;
+  /// Number of states
   unsigned int states_size;
+  /// Transitions used to generate the transition map
   rcl_lifecycle_transition_t * transitions;
+  /// Number of transitions
   unsigned int transitions_size;
 } rcl_lifecycle_transition_map_t;
 
+/// It contains the communication interfac with the ROS world
 typedef struct rcl_lifecycle_com_interface_t
 {
+  /// Handle to the node used to create the publisher and the services
   rcl_node_t * node_handle;
+  /// Event used to publish the transitions
   rcl_publisher_t pub_transition_event;
+  /// Service that allows to trigger changes on the state
   rcl_service_t srv_change_state;
+  /// Service that allows to get the current state
   rcl_service_t srv_get_state;
+  /// Service that allows to get the available states
   rcl_service_t srv_get_available_states;
+  /// Service that allows to get the available transitions
   rcl_service_t srv_get_available_transitions;
+  /// Service that allows to get transitions from the graph
   rcl_service_t srv_get_transition_graph;
 } rcl_lifecycle_com_interface_t;
 
+/// It contains the state machine data
 typedef struct rcl_lifecycle_state_machine_t
 {
+  /// Current state of the state machine
   const rcl_lifecycle_state_t * current_state;
-  // Map/Associated array of registered states and transitions
+  /// Map/Associated array of registered states and transitions
   rcl_lifecycle_transition_map_t transition_map;
-  // Communication interface into a ROS world
+  /// Communication interface into a ROS world
   rcl_lifecycle_com_interface_t com_interface;
 } rcl_lifecycle_state_machine_t;
 
diff --git a/rcl_yaml_param_parser/Doxyfile b/rcl_yaml_param_parser/Doxyfile
index 3d8981a0f..aa6311a21 100644
--- a/rcl_yaml_param_parser/Doxyfile
+++ b/rcl_yaml_param_parser/Doxyfile
@@ -9,7 +9,6 @@ USE_MDFILE_AS_MAINPAGE = README.md
 RECURSIVE              = YES
 OUTPUT_DIRECTORY       = doc_output
 
-EXTRACT_ALL            = YES
 SORT_MEMBER_DOCS       = NO
 
 GENERATE_LATEX         = NO
diff --git a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
index 37690c1e5..3243b43de 100644
--- a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
+++ b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-/** \mainpage rcl_yaml_param_parser: Parse a YAML parameter file and populate the C data structure
+/** rcl_yaml_param_parser: Parse a YAML parameter file and populate the C data structure
  *
  *  - Parser
  *  - rcl/parser.h
diff --git a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h
index c7e6da79f..594f8d43d 100644
--- a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h
+++ b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/types.h
@@ -17,41 +17,59 @@
 #include "rcutils/allocator.h"
 #include "rcutils/types/string_array.h"
 
-/// \typedef rcl_bool_array_t
-/// \brief Array of bool values
+/// Array of bool values
+/*
+ * \typedef rcl_bool_array_t
+ */
 typedef struct rcl_bool_array_s
 {
+  /// Array with bool values
   bool * values;
+  /// Number of values in the array
   size_t size;
 } rcl_bool_array_t;
 
-/// \typedef rcl_int64_array_t
-/// \brief Array of int64_t values
+/// Array of int64_t values
+/*
+ * \typedef rcl_int64_array_t
+ */
 typedef struct rcl_int64_array_s
 {
+  /// Array with int64 values
   int64_t * values;
+  /// Number of values in the array
   size_t size;
 } rcl_int64_array_t;
 
-/// \typedef rcl_double_array_t
-/// \brief Array of double values
+/// Array of double values
+/*
+ * \typedef rcl_double_array_t
+ */
 typedef struct rcl_double_array_s
 {
+  /// Array with double values
   double * values;
+  /// Number of values in the array
   size_t size;
 } rcl_double_array_t;
 
-/// \typedef rcl_byte_array_t
-/// \brief Array of byte values
+/// Array of byte values
+/*
+ * \typedef rcl_byte_array_t
+ */
 typedef struct rcl_byte_array_s
 {
+  /// Array with uint8_t values
   uint8_t * values;
+  /// Number of values in the array
   size_t size;
 } rcl_byte_array_t;
 
-/// \typedef rcl_variant_t
-/// \brief variant_t stores the value of a parameter
-/// Only one pointer in this struct will store the value
+/// variant_t stores the value of a parameter
+/*
+ * Only one pointer in this struct will store the value
+ * \typedef rcl_variant_t
+ */
 typedef struct rcl_variant_s
 {
   bool * bool_value;  ///< If bool, gets stored here
@@ -65,8 +83,10 @@ typedef struct rcl_variant_s
   rcutils_string_array_t * string_array_value;  ///< If array of strings
 } rcl_variant_t;
 
-/// \typedef rcl_node_params_t
-/// \brief node_params_t stores all the parameters(key:value) of a single node
+/// node_params_t stores all the parameters(key:value) of a single node
+/*
+* \typedef rcl_node_params_t
+*/
 typedef struct rcl_node_params_s
 {
   char ** parameter_names;  ///< Array of parameter names (keys)
@@ -74,8 +94,10 @@ typedef struct rcl_node_params_s
   size_t num_params;  ///< Number of parameters in the node
 } rcl_node_params_t;
 
-/// \typedef rcl_params_t
-/// \brief params_t stores all the parameters of all nodes of a process
+/// stores all the parameters of all nodes of a process
+/*
+* \typedef rcl_params_t
+*/
 typedef struct rcl_params_s
 {
   char ** node_names;  ///< List of names of the node