From 266e4e0c712bad948bd02b5bed6a6ac387861c6b Mon Sep 17 00:00:00 2001
From: Antonio cuadros <acuadros1995@gmail.com>
Date: Wed, 5 May 2021 07:44:20 +0200
Subject: [PATCH 1/4] Add API reference tab

---
 _data/docs.yml                                |   6 +
 _docs/api/overview/index.md                   |  16 +
 _docs/api/rclc/index.md                       |   6 +
 _docs/api/rmw/index.md                        |   6 +
 _includes/docs_nav.html                       |   3 +
 _includes/rmw_doc/Modules/group__rmw.md       | 285 ++++++++++++++++
 _includes/rmw_doc/index_groups.md             |  10 +
 _includes/topnav.html                         |   1 +
 utils/doxy_config                             |  56 ++++
 utils/doxy_templates/breadcrumbs.tmpl         |   6 +
 .../doxy_templates/class_members_details.tmpl | 104 ++++++
 .../class_members_inherited_tables.tmpl       | 303 ++++++++++++++++++
 .../doxy_templates/class_members_tables.tmpl  | 285 ++++++++++++++++
 utils/doxy_templates/details.tmpl             | 189 +++++++++++
 utils/doxy_templates/footer.tmpl              |   1 +
 utils/doxy_templates/header.tmpl              |   5 +
 utils/doxy_templates/index.tmpl               |  10 +
 utils/doxy_templates/index_classes.tmpl       |   5 +
 utils/doxy_templates/index_examples.tmpl      |   5 +
 utils/doxy_templates/index_files.tmpl         |   5 +
 utils/doxy_templates/index_groups.tmpl        |   5 +
 utils/doxy_templates/index_namespaces.tmpl    |   5 +
 utils/doxy_templates/index_pages.tmpl         |   5 +
 utils/doxy_templates/kind_class.tmpl          |  40 +++
 utils/doxy_templates/kind_example.tmpl        |   5 +
 utils/doxy_templates/kind_file.tmpl           |  22 ++
 utils/doxy_templates/kind_group.tmpl          |  17 +
 utils/doxy_templates/kind_nonclass.tmpl       |  17 +
 utils/doxy_templates/kind_page.tmpl           |   5 +
 utils/doxy_templates/member_details.tmpl      |  86 +++++
 utils/doxy_templates/meta.tmpl                |   0
 .../nonclass_members_details.tmpl             |  24 ++
 .../nonclass_members_tables.tmpl              | 147 +++++++++
 33 files changed, 1685 insertions(+)
 create mode 100644 _docs/api/overview/index.md
 create mode 100644 _docs/api/rclc/index.md
 create mode 100644 _docs/api/rmw/index.md
 create mode 100644 _includes/rmw_doc/Modules/group__rmw.md
 create mode 100644 _includes/rmw_doc/index_groups.md
 create mode 100644 utils/doxy_config
 create mode 100644 utils/doxy_templates/breadcrumbs.tmpl
 create mode 100644 utils/doxy_templates/class_members_details.tmpl
 create mode 100644 utils/doxy_templates/class_members_inherited_tables.tmpl
 create mode 100644 utils/doxy_templates/class_members_tables.tmpl
 create mode 100644 utils/doxy_templates/details.tmpl
 create mode 100644 utils/doxy_templates/footer.tmpl
 create mode 100644 utils/doxy_templates/header.tmpl
 create mode 100644 utils/doxy_templates/index.tmpl
 create mode 100644 utils/doxy_templates/index_classes.tmpl
 create mode 100644 utils/doxy_templates/index_examples.tmpl
 create mode 100644 utils/doxy_templates/index_files.tmpl
 create mode 100644 utils/doxy_templates/index_groups.tmpl
 create mode 100644 utils/doxy_templates/index_namespaces.tmpl
 create mode 100644 utils/doxy_templates/index_pages.tmpl
 create mode 100644 utils/doxy_templates/kind_class.tmpl
 create mode 100644 utils/doxy_templates/kind_example.tmpl
 create mode 100644 utils/doxy_templates/kind_file.tmpl
 create mode 100644 utils/doxy_templates/kind_group.tmpl
 create mode 100644 utils/doxy_templates/kind_nonclass.tmpl
 create mode 100644 utils/doxy_templates/kind_page.tmpl
 create mode 100644 utils/doxy_templates/member_details.tmpl
 create mode 100644 utils/doxy_templates/meta.tmpl
 create mode 100644 utils/doxy_templates/nonclass_members_details.tmpl
 create mode 100644 utils/doxy_templates/nonclass_members_tables.tmpl

diff --git a/_data/docs.yml b/_data/docs.yml
index cc8fd177..0f04dc25 100644
--- a/_data/docs.yml
+++ b/_data/docs.yml
@@ -83,3 +83,9 @@
    - tutorials/demos/thumper_demo
    - tutorials/demos/combined_demos
    - tutorials/demos/moveit2_demo
+
+- title: API reference
+  docs:
+   - api/overview
+   - api/rmw
+   - api/rclc
diff --git a/_docs/api/overview/index.md b/_docs/api/overview/index.md
new file mode 100644
index 00000000..9a13b02f
--- /dev/null
+++ b/_docs/api/overview/index.md
@@ -0,0 +1,16 @@
+---
+title: Overview
+permalink: /docs/api/overview/
+redirect_from:
+  - /docs/api/
+---
+
+TODO
+
+* [**RMW Micro XRCE-DDS**](../rmw/)
+
+  TODO
+
+* [**RCLC**](../rclc/)
+
+  TODO
\ No newline at end of file
diff --git a/_docs/api/rclc/index.md b/_docs/api/rclc/index.md
new file mode 100644
index 00000000..0495cfc5
--- /dev/null
+++ b/_docs/api/rclc/index.md
@@ -0,0 +1,6 @@
+---
+title: RCLC
+permalink: /docs/api/rclc/
+---
+
+TODO
\ No newline at end of file
diff --git a/_docs/api/rmw/index.md b/_docs/api/rmw/index.md
new file mode 100644
index 00000000..8bab3698
--- /dev/null
+++ b/_docs/api/rmw/index.md
@@ -0,0 +1,6 @@
+---
+title: RMW
+permalink: /docs/api/rmw/
+---
+
+{% include rmw_doc/Modules/group__rmw.md %}
\ No newline at end of file
diff --git a/_includes/docs_nav.html b/_includes/docs_nav.html
index 284e5fb2..c4677341 100644
--- a/_includes/docs_nav.html
+++ b/_includes/docs_nav.html
@@ -28,6 +28,9 @@
   {% if page.path contains "_docs/tutorials" and section.title == "Demos" %}
     {% assign should_show_this_menu = true %}
   {% endif %}
+  {% if page.path contains "_docs/api" and section.title == "API reference" %}
+    {% assign should_show_this_menu = true %}
+  {% endif %}
   {% if should_show_this_menu == true %}
   <div class="panel panel-default">
     <div class="panel-heading">
diff --git a/_includes/rmw_doc/Modules/group__rmw.md b/_includes/rmw_doc/Modules/group__rmw.md
new file mode 100644
index 00000000..4756d291
--- /dev/null
+++ b/_includes/rmw_doc/Modules/group__rmw.md
@@ -0,0 +1,285 @@
+# micro-ROS RMW API
+
+TODO. 
+
+## Functions
+
+|                | Name           |
+| -------------- | -------------- |
+| void | **[rmw_uros_set_continous_serialization_callbacks](#function-rmw_uros_set_continous_serialization_callbacks)**(rmw_publisher_t * publisher, rmw_uros_continous_serialization_size size_cb, rmw_uros_continous_serialization serialization_cb)<br>Sets the callback functions for continous serialization for a publisher.  |
+| rmw_ret_t | **[rmw_uros_set_custom_transport](#function-rmw_uros_set_custom_transport)**(bool framing, void * args, open_custom_func open_cb, close_custom_func close_cb, write_custom_func write_cb, read_custom_func read_cb)<br>Check if micro-ROS Agent answers to micro-ROS client.  |
+| rmw_ret_t | **[rmw_uros_discover_agent](#function-rmw_uros_discover_agent)**(rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent.  |
+| rmw_ret_t | **[rmw_uros_init_options](#function-rmw_uros_init_options)**(int argc, const char *const argv[], rmw_init_options_t * rmw_options)<br>Parses command line args and fills rmw implementation-specific options.  |
+| rmw_ret_t | **[rmw_uros_options_set_serial_device](#function-rmw_uros_options_set_serial_device)**(const char * dev, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.  |
+| rmw_ret_t | **[rmw_uros_options_set_udp_address](#function-rmw_uros_options_set_udp_address)**(const char * ip, const char * port, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.  |
+| rmw_ret_t | **[rmw_uros_options_set_client_key](#function-rmw_uros_options_set_client_key)**(uint32_t client_key, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.  |
+| rmw_ret_t | **[rmw_uros_ping_agent](#function-rmw_uros_ping_agent)**(const int timeout_ms, const uint8_t attempts)<br>Check if micro-ROS Agent is up and running.  |
+| bool | **[rmw_uros_epoch_synchronized](#function-rmw_uros_epoch_synchronized)**()<br>Returns the time synchronization state of the epoch time.  |
+| int64_t | **[rmw_uros_epoch_millis](#function-rmw_uros_epoch_millis)**()<br>Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization.  |
+| int64_t | **[rmw_uros_epoch_nanos](#function-rmw_uros_epoch_nanos)**()<br>Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.  |
+| rmw_ret_t | **[rmw_uros_sync_session](#function-rmw_uros_sync_session)**(const int timeout_ms)<br>Synchronizes the session time using the NTP protocol.  |
+
+
+## Functions Documentation
+
+### function rmw_uros_set_continous_serialization_callbacks
+
+```cpp
+void rmw_uros_set_continous_serialization_callbacks(
+    rmw_publisher_t * publisher,
+    rmw_uros_continous_serialization_size size_cb,
+    rmw_uros_continous_serialization serialization_cb
+)
+```
+
+Sets the callback functions for continous serialization for a publisher. 
+
+**Parameters**: 
+
+  * **publisher** publisher where continous serialization is being configured 
+  * **size_cb** callback that should modify the total serialization size 
+  * **serialization_cb** callback that should serialize the user part of the message 
+
+
+### function rmw_uros_set_custom_transport
+
+```cpp
+rmw_ret_t rmw_uros_set_custom_transport(
+    bool framing,
+    void * args,
+    open_custom_func open_cb,
+    close_custom_func close_cb,
+    write_custom_func write_cb,
+    read_custom_func read_cb
+)
+```
+
+Check if micro-ROS Agent answers to micro-ROS client. 
+
+**Parameters**: 
+
+  * **framing** Enable XRCE framing. 
+  * **args** Arguments for open function. 
+  * **open_cb** Open transport callback. 
+  * **close_cb** Close transport callback. 
+  * **write_cb** Write transport callback. 
+  * **read_cb** Read transport callback. 
+
+
+**Return**: 
+
+  * RMW_RET_OK If correct. 
+  * RMW_RET_ERROR If invalid. 
+
+
+### function rmw_uros_discover_agent
+
+```cpp
+rmw_ret_t rmw_uros_discover_agent(
+    rmw_init_options_t * rmw_options
+)
+```
+
+Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent. 
+
+**Parameters**: 
+
+  * **rmw_options** Updated options with rmw specifics. 
+
+
+**Return**: 
+
+  * RMW_RET_OK If arguments were valid and set in rmw_init_options. 
+  * RMW_RET_TIMEOUT If micro-ROS agent autodiscovery is timeout. 
+  * RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments. 
+
+
+### function rmw_uros_init_options
+
+```cpp
+rmw_ret_t rmw_uros_init_options(
+    int argc,
+    const char *const argv[],
+    rmw_init_options_t * rmw_options
+)
+```
+
+Parses command line args and fills rmw implementation-specific options. 
+
+**Parameters**: 
+
+  * **argc** Number of arguments. 
+  * **argv** Arguments. 
+  * **rmw_options** Updated options with rmw specifics. 
+
+
+**Return**: 
+
+  * RMW_RET_OK If arguments were valid and set in rmw_init_options. 
+  * RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments. 
+
+
+`rmw_init_options allocator` is used to allocate the specific rmw options.
+
+
+### function rmw_uros_options_set_serial_device
+
+```cpp
+rmw_ret_t rmw_uros_options_set_serial_device(
+    const char * dev,
+    rmw_init_options_t * rmw_options
+)
+```
+
+Fills rmw implementation-specific options with the given parameters. 
+
+**Parameters**: 
+
+  * **dev** Serial device. 
+  * **rmw_options** Updated options with rmw specifics. 
+
+
+**Return**: 
+
+  * RMW_RET_OK If arguments were valid and set in rmw_init_options. 
+  * RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments. 
+
+
+### function rmw_uros_options_set_udp_address
+
+```cpp
+rmw_ret_t rmw_uros_options_set_udp_address(
+    const char * ip,
+    const char * port,
+    rmw_init_options_t * rmw_options
+)
+```
+
+Fills rmw implementation-specific options with the given parameters. 
+
+**Parameters**: 
+
+  * **ip** Agent IP address. 
+  * **port** Agent UDP port. 
+  * **rmw_options** Updated options with rmw specifics. 
+
+
+**Return**: 
+
+  * RMW_RET_OK If arguments were valid and set in rmw_init_options. 
+  * RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments. 
+
+
+### function rmw_uros_options_set_client_key
+
+```cpp
+rmw_ret_t rmw_uros_options_set_client_key(
+    uint32_t client_key,
+    rmw_init_options_t * rmw_options
+)
+```
+
+Fills rmw implementation-specific options with the given parameters. 
+
+**Parameters**: 
+
+  * **client_key** MicroXRCE-DDS client key. 
+  * **rmw_options** Updated options with rmw specifics. 
+
+
+**Return**: 
+
+  * RMW_RET_OK If arguments were valid and set in rmw_init_options. 
+  * RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments. 
+
+
+### function rmw_uros_ping_agent
+
+```cpp
+rmw_ret_t rmw_uros_ping_agent(
+    const int timeout_ms,
+    const uint8_t attempts
+)
+```
+
+Check if micro-ROS Agent is up and running. 
+
+**Parameters**: 
+
+  * **timeout_ms** Timeout in ms (per attempt). 
+  * **attempts** Number of tries before considering the ping as failed. 
+
+
+**Return**: 
+
+  * RMW_RET_OK If micro-ROS Agent is available. 
+  * RMW_RET_ERROR If micro-ROS Agent is not available. 
+
+
+This function can be called even when the micro-ROS context has not yet been initialized by the application logics. 
+
+
+### function rmw_uros_epoch_synchronized
+
+```cpp
+bool rmw_uros_epoch_synchronized()
+```
+
+Returns the time synchronization state of the epoch time. 
+
+**Return**: true if last time synchronization succeded and false otherwise 
+
+### function rmw_uros_epoch_millis
+
+```cpp
+int64_t rmw_uros_epoch_millis()
+```
+
+Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization. 
+
+**Return**: 
+
+  * epoch time in milliseconds. 
+  * 0 if session is not initialized. 
+
+
+### function rmw_uros_epoch_nanos
+
+```cpp
+int64_t rmw_uros_epoch_nanos()
+```
+
+Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization. 
+
+**Return**: 
+
+  * epoch time in nanoseconds. 
+  * 0 if session is not initialized. 
+
+
+### function rmw_uros_sync_session
+
+```cpp
+rmw_ret_t rmw_uros_sync_session(
+    const int timeout_ms
+)
+```
+
+Synchronizes the session time using the NTP protocol. 
+
+**Parameters**: 
+
+  * **timeout_ms** The waiting time in milliseconds. 
+
+
+**Return**: 
+
+  * RMW_RET_OK when success. 
+  * RMW_RET_ERROR If no session is running or the synchronization fails. 
+
+
+
+
+
+
+-------------------------------
\ No newline at end of file
diff --git a/_includes/rmw_doc/index_groups.md b/_includes/rmw_doc/index_groups.md
new file mode 100644
index 00000000..93ebc176
--- /dev/null
+++ b/_includes/rmw_doc/index_groups.md
@@ -0,0 +1,10 @@
+# Modules
+
+
+
+
+* **group [micro-ROS RMW API](Modules/group__rmw.md)** <br>TODO. 
+
+
+
+-------------------------------
diff --git a/_includes/topnav.html b/_includes/topnav.html
index cbbb96ec..ff2231db 100644
--- a/_includes/topnav.html
+++ b/_includes/topnav.html
@@ -16,6 +16,7 @@
                 <li {% if page.path contains '_docs/overview' %} class="active" {% endif %}><a href="{{ "/docs/overview/" | prepend: site.baseurl }}">Overview</a></li>
                 <li {% if page.path contains '_docs/concepts' %} class="active" {% endif %}><a href="{{ "/docs/concepts/" | prepend: site.baseurl }}">Concepts</a></li>
                 <li {% if page.path contains '_docs/tutorials' %} class="active" {% endif %}><a href="{{ "/docs/tutorials/" | prepend: site.baseurl }}">Tutorials</a></li>
+                <li {% if page.path contains '_docs/api' %} class="active" {% endif %}><a href="{{ "/docs/api/" | prepend: site.baseurl }}">API reference</a></li>
                 <li {% if page.sectionid=='posts' %} class="active" {% endif %}><a href="{{ site.posts.first.url | prepend: site.baseurl }}">Blog</a></li>
             </ul>
             <ul class="nav navbar-nav navbar-right">
diff --git a/utils/doxy_config b/utils/doxy_config
new file mode 100644
index 00000000..9ca9e3dc
--- /dev/null
+++ b/utils/doxy_config
@@ -0,0 +1,56 @@
+{
+  "baseUrl": "",
+  "copyImages": true,
+  "fileExt": "md",
+  "filesFilter": [],
+  "folderClassesName": "Classes",
+  "folderExamplesName": "Examples",
+  "folderFilesName": "Files",
+  "folderGroupsName": "Modules",
+  "folderNamespacesName": "Namespaces",
+  "folderRelatedPagesName": "Pages",
+  "foldersToGenerate": [
+    "modules"
+  ],
+  "formulaBlockEnd": "\\]",
+  "formulaBlockStart": "\\[",
+  "formulaInlineEnd": "\\)",
+  "formulaInlineStart": "\\(",
+  "imagesFolder": "images",
+  "indexClassesName": "index_classes",
+  "indexClassesTitle": "Classes",
+  "indexExamplesName": "index_examples",
+  "indexExamplesTitle": "Examples",
+  "indexFilesName": "index_files",
+  "indexFilesTitle": "Files",
+  "indexGroupsName": "index_groups",
+  "indexGroupsTitle": "Modules",
+  "indexInFolders": false,
+  "indexNamespacesName": "index_namespaces",
+  "indexNamespacesTitle": "Namespaces",
+  "indexRelatedPagesName": "index_pages",
+  "indexRelatedPagesTitle": "Pages",
+  "linkAndInlineCodeAsHTML": false,
+  "linkLowercase": false,
+  "linkSuffix": ".md",
+  "mainPageInRoot": false,
+  "mainPageName": "indexpage",
+  "sort": false,
+  "templateIndexClasses": "index_classes",
+  "templateIndexExamples": "index_examples",
+  "templateIndexFiles": "index_files",
+  "templateIndexGroups": "index_groups",
+  "templateIndexNamespaces": "index_namespaces",
+  "templateIndexRelatedPages": "index_pages",
+  "templateKindClass": "kind_class",
+  "templateKindDir": "kind_file",
+  "templateKindExample": "kind_page",
+  "templateKindFile": "kind_file",
+  "templateKindGroup": "kind_nonclass",
+  "templateKindInterface": "kind_class",
+  "templateKindNamespace": "kind_nonclass",
+  "templateKindPage": "kind_page",
+  "templateKindStruct": "kind_class",
+  "templateKindUnion": "kind_class",
+  "useFolders": true
+}
diff --git a/utils/doxy_templates/breadcrumbs.tmpl b/utils/doxy_templates/breadcrumbs.tmpl
new file mode 100644
index 00000000..3c97fc4b
--- /dev/null
+++ b/utils/doxy_templates/breadcrumbs.tmpl
@@ -0,0 +1,6 @@
+{% if exists("moduleBreadcrumbs") -%}
+**Module:** {%- for module in moduleBreadcrumbs -%}
+ **[{{module.title}}]({{module.url}})**{% if not loop.is_last %} **/** {% endif -%}
+{% endfor %}
+
+{% endif -%}
\ No newline at end of file
diff --git a/utils/doxy_templates/class_members_details.tmpl b/utils/doxy_templates/class_members_details.tmpl
new file mode 100644
index 00000000..4572f272
--- /dev/null
+++ b/utils/doxy_templates/class_members_details.tmpl
@@ -0,0 +1,104 @@
+{% if exists("publicTypes") %}## Public Types Documentation
+
+{% for child in publicTypes %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("protectedTypes") %}## Protected Types Documentation
+
+{% for child in protectedTypes %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("publicSlots") %}## Public Slots Documentation
+
+{% for child in publicSlots %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("protectedSlots") %}## Protected Slots Documentation
+
+{% for child in protectedSlots %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("publicSignals") %}## Public Signals Documentation
+
+{% for child in publicSignals %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("protectedSignals") %}## Protected Signals Documentation
+
+{% for child in protectedSignals %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("publicEvents") %}## Public Events Documentation
+
+{% for child in publicEvents %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("protectedEvents") %}## Protected Events Documentation
+
+{% for child in protectedEvents %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("publicFunctions") %}## Public Functions Documentation
+
+{% for child in publicFunctions %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("protectedFunctions") %}## Protected Functions Documentation
+
+{% for child in protectedFunctions %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("publicProperties") %}## Public Property Documentation
+
+{% for child in publicProperties %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("protectedProperties") %}## Protected Property Documentation
+
+{% for child in protectedProperties %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("publicAttributes") %}## Public Attributes Documentation
+
+{% for child in publicAttributes %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("protectedAttributes") %}## Protected Attributes Documentation
+
+{% for child in protectedAttributes %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
+
+{% if exists("friends") %}## Friends
+
+{% for child in friends %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif -%}
\ No newline at end of file
diff --git a/utils/doxy_templates/class_members_inherited_tables.tmpl b/utils/doxy_templates/class_members_inherited_tables.tmpl
new file mode 100644
index 00000000..96048aa9
--- /dev/null
+++ b/utils/doxy_templates/class_members_inherited_tables.tmpl
@@ -0,0 +1,303 @@
+{% for base in baseClasses -%}
+{%- if existsIn(base, "publicClasses") -%}
+**Public Classes inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicClasses -%}
+| {{child.kind}} | **[{{last(stripNamespace(child.name))}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedClasses") -%}
+**Protected Classes inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedClasses -%}
+| {{child.kind}} | **[{{last(stripNamespace(child.name))}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "publicTypes") -%}
+**Public Types inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicTypes -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{{child.kind}}{% if existsIn(child, "type") %} {{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if child.kind == "enum" %}{ {% for enumvalue in child.enumvalues -%}
+{{enumvalue.name}}{% if existsIn(enumvalue, "initializer") %} {{enumvalue.initializer}}{% endif -%}
+{% if not loop.is_last %}, {% endif %}{% endfor -%}
+ }{% endif -%}
+{% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedTypes") -%}
+**Protected Types inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedTypes -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{{child.kind}}{% if existsIn(child, "type") %} {{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if child.kind == "enum" %}{ {% for enumvalue in child.enumvalues -%}
+{{enumvalue.name}}{% if existsIn(enumvalue, "initializer") %} {{enumvalue.initializer}}{% endif -%}
+{% if not loop.is_last %}, {% endif %}{% endfor -%}
+ }{% endif -%}
+{% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "publicSlots") -%}
+**Public Slots inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicSlots -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedSlots") -%}
+**Protected Slots inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedSlots -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "publicSignals") -%}
+**Public Signals inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicSignals -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedSignals") -%}
+**Protected Signals inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedSignals -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "publicEvents") -%}
+**Public Events inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicEvents -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedEvents") -%}
+**Protected Events inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedEvents -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "publicFunctions") -%}
+**Public Functions inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicFunctions -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedFunctions") -%}
+**Protected Functions inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedFunctions -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "publicProperties") -%}
+**Public Properties inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicProperties -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedProperties") -%}
+**Protected Properties inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedProperties -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "publicAttributes") -%}
+**Public Attributes inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.publicAttributes -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if existsIn(base, "protectedAttributes") -%}
+**Protected Attributes inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.protectedAttributes -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{% if existsIn(base, "friends") %}**Friends inherited from [{{base.name}}]({{base.url}})**
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in base.friends -%}| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**{% if child.type != "class" -%}
+({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% endif %} {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{% endfor -%}
\ No newline at end of file
diff --git a/utils/doxy_templates/class_members_tables.tmpl b/utils/doxy_templates/class_members_tables.tmpl
new file mode 100644
index 00000000..38ccd5b0
--- /dev/null
+++ b/utils/doxy_templates/class_members_tables.tmpl
@@ -0,0 +1,285 @@
+{%- if exists("publicClasses") %}## Public Classes
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicClasses -%}
+| {{child.kind}} | **[{{last(stripNamespace(child.name))}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedClasses") %}## Protected Classes
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedClasses -%}
+| {{child.kind}} | **[{{last(stripNamespace(child.name))}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicTypes") %}## Public Types
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicTypes -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{{child.kind}}{% if existsIn(child, "type") %} {{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if child.kind == "enum" %}{ {% for enumvalue in child.enumvalues -%}
+{{enumvalue.name}}{% if existsIn(enumvalue, "initializer") %} {{enumvalue.initializer}}{% endif -%}
+{% if not loop.is_last %}, {% endif %}{% endfor -%}
+ }{% endif -%}
+{% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedTypes") %}## Protected Types
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedTypes -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{{child.kind}}{% if existsIn(child, "type") %} {{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if child.kind == "enum" %}{ {% for enumvalue in child.enumvalues -%}
+{{enumvalue.name}}{% if existsIn(enumvalue, "initializer") %} {{enumvalue.initializer}}{% endif -%}
+{% if not loop.is_last %}, {% endif %}{% endfor -%}
+ }{% endif -%}
+{% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicSlots") %}## Public Slots
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicSlots -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedSlots") %}## Protected Slots
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedSlots -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicSignals") %}## Public Signals
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicSignals -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedSignals") %}## Protected Signals
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedSignals -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicEvents") %}## Public Events
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicEvents -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedEvents") %}## Protected Events
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedEvents -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicFunctions") %}## Public Functions
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicFunctions -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedFunctions") %}## Protected Functions
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedFunctions -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicProperties") %}## Public Properties
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicProperties -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedProperties") %}## Protected Properties
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedProperties -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicAttributes") %}## Public Attributes
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicAttributes -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("protectedAttributes") %}## Protected Attributes
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in protectedAttributes -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{% if exists("friends") %}## Friends
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in friends -%}| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**{% if child.type != "class" -%}
+({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% endif %} {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
diff --git a/utils/doxy_templates/details.tmpl b/utils/doxy_templates/details.tmpl
new file mode 100644
index 00000000..58ea0d66
--- /dev/null
+++ b/utils/doxy_templates/details.tmpl
@@ -0,0 +1,189 @@
+{% if exists("brief") %}{{brief}}
+{% endif -%}
+
+{% if exists("paramList") %}
+**Parameters**: 
+
+{% for param in paramList %}  * **{{param.name}}** {{param.text}}
+{% endfor %}
+{% endif -%}
+
+{% if exists("returnsList") %}
+**Returns**: 
+
+{% for param in returnsList %}  * **{{param.name}}** {{param.text}}
+{% endfor %}
+{% endif -%}
+
+{% if exists("exceptionsList") %}
+**Exceptions**: 
+
+{% for param in exceptionsList %}  * **{{param.name}}** {{param.text}}
+{% endfor %}
+{% endif -%}
+
+{% if exists("templateParamsList") %}
+**Template Parameters**: 
+
+{% for param in templateParamsList %}  * **{{param.name}}** {{param.text}}
+{% endfor %}
+{% endif -%}
+
+{% if exists("deprecated") %}
+**Deprecated**: 
+
+{{deprecated}}
+{% endif -%}
+
+{% if exists("see") %}
+**See**: {% if length(see) == 1 %}{{first(see)}}{% else %}
+
+{% for item in see %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("returns") %}
+**Return**: {% if length(returns) == 1 %}{{first(returns)}}{% else %}
+
+{% for item in returns %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("authors") %}
+**Author**: {% if length(authors) == 1 %}{{first(authors)}}{% else %}
+
+{% for item in authors %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("version") %}
+**Version**: {% if length(version) == 1 %}{{first(version)}}{% else %}
+
+{% for item in version %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("since") %}
+**Since**: {% if length(since) == 1 %}{{first(since)}}{% else %}
+
+{% for item in since %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("date") %}
+**Date**: {% if length(date) == 1 %}{{first(date)}}{% else %}
+
+{% for item in date %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("note") %}
+**Note**: {% if length(note) == 1 %}{{first(note)}}{% else %}
+
+{% for item in note %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("bugs") %}
+**Bug**: {% if length(bugs) == 1 %}{{first(bugs)}}{% else %}
+
+{% for item in bugs %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("tests") %}
+**Test**: {% if length(tests) == 1 %}{{first(tests)}}{% else %}
+
+{% for item in tests %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("todos") %}
+**Todo**: {% if length(todos) == 1 %}{{first(todos)}}{% else %}
+
+{% for item in todos %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("warning") %}
+**Warning**: {% if length(warning) == 1 %}{{first(warning)}}{% else %}
+
+{% for item in warning %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("pre") %}
+**Precondition**: {% if length(pre) == 1 %}{{first(pre)}}{% else %}
+
+{% for item in pre %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("post") %}
+**Postcondition**: {% if length(post) == 1 %}{{first(post)}}{% else %}
+
+{% for item in post %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("copyright") %}
+**Copyright**: {% if length(copyright) == 1 %}{{first(copyright)}}{% else %}
+
+{% for item in copyright %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("invariant") %}
+**Invariant**: {% if length(invariant) == 1 %}{{first(invariant)}}{% else %}
+
+{% for item in invariant %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("remark") %}
+**Remark**: {% if length(remark) == 1 %}{{first(remark)}}{% else %}
+
+{% for item in remark %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("attention") %}
+**Attention**: {% if length(attention) == 1 %}{{first(attention)}}{% else %}
+
+{% for item in attention %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("par") %}
+**Par**: {% if length(par) == 1 %}{{first(par)}}{% else %}
+
+{% for item in par %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("rcs") %}
+**Rcs**: {% if length(rcs) == 1 %}{{first(rcs)}}{% else %}
+
+{% for item in rcs %}  * {{item}}
+{% endfor %}{% endif %}
+{% endif -%}
+
+{% if exists("reimplements") %}
+**Reimplements**: [{{reimplements.fullname}}]({{reimplements.url}})
+
+{% endif -%}
+
+{% if exists("reimplementedBy") %}
+**Reimplemented by**: {% for impl in reimplementedBy %}[{{impl.fullname}}]({{impl.url}}){% if not loop.is_last %}, {% endif %}{% endfor %}
+
+{% endif -%}
+
+{% if exists("details") %}
+{{details}}
+
+{% endif -%}
+
+{% if exists("inbody") %}
+{{inbody}}
+
+{% endif -%}
\ No newline at end of file
diff --git a/utils/doxy_templates/footer.tmpl b/utils/doxy_templates/footer.tmpl
new file mode 100644
index 00000000..c6036d76
--- /dev/null
+++ b/utils/doxy_templates/footer.tmpl
@@ -0,0 +1 @@
+-------------------------------
\ No newline at end of file
diff --git a/utils/doxy_templates/header.tmpl b/utils/doxy_templates/header.tmpl
new file mode 100644
index 00000000..f85e900d
--- /dev/null
+++ b/utils/doxy_templates/header.tmpl
@@ -0,0 +1,5 @@
+{% if exists("title") -%}
+# {{title}}
+{% else if exists("kind") and kind != "page" -%}
+# {{name}} {{title(kind)}} Reference
+{% endif %}
diff --git a/utils/doxy_templates/index.tmpl b/utils/doxy_templates/index.tmpl
new file mode 100644
index 00000000..9d4d98dd
--- /dev/null
+++ b/utils/doxy_templates/index.tmpl
@@ -0,0 +1,10 @@
+
+{% for child0 in children %}* **{{child0.kind}} [{{child0.title}}]({{child0.url}})** {% if existsIn(child0, "brief") %}<br>{{child0.brief}}{% endif %}{% if existsIn(child0, "children") %}{% for child1 in child0.children %}
+    * **{{child1.kind}} [{{last(stripNamespace(child1.title))}}]({{child1.url}})** {% if existsIn(child1, "brief") %}<br>{{child1.brief}}{% endif %}{% if existsIn(child1, "children") %}{% for child2 in child1.children %}
+        * **{{child2.kind}} [{{last(stripNamespace(child2.title))}}]({{child2.url}})** {% if existsIn(child2, "brief") %}<br>{{child2.brief}}{% endif %}{% if existsIn(child2, "children") %}{% for child3 in child2.children %}
+            * **{{child3.kind}} [{{last(stripNamespace(child3.title))}}]({{child3.url}})** {% if existsIn(child3, "brief") %}<br>{{child3.brief}}{% endif %}{% if existsIn(child3, "children") %}{% for child4 in child3.children %}
+                * **{{child4.kind}} [{{last(stripNamespace(child4.title))}}]({{child4.url}})** {% if existsIn(child4, "brief") %}<br>{{child4.brief}}{% endif %}{% if existsIn(child4, "children") %}{% for child5 in child4.children %}
+                    * **{{child5.kind}} [{{last(stripNamespace(child5.title))}}]({{child5.url}})** {% if existsIn(child5, "brief") %}<br>{{child5.brief}}{% endif %}{% if existsIn(child5, "children") %}{% for child6 in child5.children %}
+                        * **{{child6.kind}} [{{last(stripNamespace(child6.title))}}]({{child6.url}})** {% if existsIn(child6, "brief") %}<br>{{child6.brief}}{% endif %}{% if existsIn(child6, "children") %}{% for child7 in child6.children %}
+                            * **{{child7.kind}} [{{last(stripNamespace(child7.title))}}]({{child7.url}})** {% if existsIn(child7, "brief") %}<br>{{child7.brief}}{% endif %}{% endfor %}{% endif %}{% endfor %}{% endif %}{% endfor %}{% endif %}{% endfor %}{% endif %}{% endfor %}{% endif %}{% endfor %}{% endif %}{% endfor %}{% endif %}
+{% endfor %}
diff --git a/utils/doxy_templates/index_classes.tmpl b/utils/doxy_templates/index_classes.tmpl
new file mode 100644
index 00000000..468824a9
--- /dev/null
+++ b/utils/doxy_templates/index_classes.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% include "index" %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/index_examples.tmpl b/utils/doxy_templates/index_examples.tmpl
new file mode 100644
index 00000000..468824a9
--- /dev/null
+++ b/utils/doxy_templates/index_examples.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% include "index" %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/index_files.tmpl b/utils/doxy_templates/index_files.tmpl
new file mode 100644
index 00000000..468824a9
--- /dev/null
+++ b/utils/doxy_templates/index_files.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% include "index" %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/index_groups.tmpl b/utils/doxy_templates/index_groups.tmpl
new file mode 100644
index 00000000..468824a9
--- /dev/null
+++ b/utils/doxy_templates/index_groups.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% include "index" %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/index_namespaces.tmpl b/utils/doxy_templates/index_namespaces.tmpl
new file mode 100644
index 00000000..468824a9
--- /dev/null
+++ b/utils/doxy_templates/index_namespaces.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% include "index" %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/index_pages.tmpl b/utils/doxy_templates/index_pages.tmpl
new file mode 100644
index 00000000..468824a9
--- /dev/null
+++ b/utils/doxy_templates/index_pages.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% include "index" %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/kind_class.tmpl b/utils/doxy_templates/kind_class.tmpl
new file mode 100644
index 00000000..6841b1fb
--- /dev/null
+++ b/utils/doxy_templates/kind_class.tmpl
@@ -0,0 +1,40 @@
+{% include "header" -%}
+
+{% include "breadcrumbs" %}
+
+{% if exists("brief") %}{{brief}}
+
+{% endif -%}
+
+{% if exists("includes") %}
+`#include {{includes}}`
+
+{% endif -%}
+
+{%- if exists("baseClasses") %}Inherits from {% for child in baseClasses %}{% if existsIn(child, "url") %}[{{child.name}}]({{child.url}}){% else %}{{child.name}}{% endif %}{% if not loop.is_last %}, {% endif %}{% endfor %}
+
+{% endif -%}
+{%- if exists("derivedClasses") %}Inherited by {% for child in derivedClasses %}{% if existsIn(child, "url") %}[{{child.name}}]({{child.url}}){% else %}{{child.name}}{% endif %}{% if not loop.is_last %}, {% endif %}{% endfor %}
+
+{% endif -%}
+
+{%- include "class_members_tables" -%}
+
+{% if hasAdditionalMembers %}## Additional inherited members
+
+{% include "class_members_inherited_tables" %}
+{% endif -%}
+
+{% if hasDetails %}## Detailed Description
+
+```cpp{% if exists("templateParams") %}
+template <{% for param in templateParams %}{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif %}{% if not loop.is_last %},
+{% endif %}{% endfor %}>{% endif %}
+{% if kind == "interface" %}class{% else %}{{kind}}{% endif %} {{name}};
+```
+
+{% include "details" %}{% endif -%}
+
+{% include "class_members_details" -%}
+
+{% include "footer" %}
\ No newline at end of file
diff --git a/utils/doxy_templates/kind_example.tmpl b/utils/doxy_templates/kind_example.tmpl
new file mode 100644
index 00000000..1ce6706c
--- /dev/null
+++ b/utils/doxy_templates/kind_example.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% if exists("details") %}{{details}}{% endif %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/kind_file.tmpl b/utils/doxy_templates/kind_file.tmpl
new file mode 100644
index 00000000..153411b2
--- /dev/null
+++ b/utils/doxy_templates/kind_file.tmpl
@@ -0,0 +1,22 @@
+{% include "header" -%}
+
+{% if exists("brief") %}{{brief}}
+
+{% endif -%}
+
+{% include "nonclass_members_tables" -%}
+
+{% if hasDetails %}## Detailed Description
+
+{% include "details" %}{% endif -%}
+
+{% include "nonclass_members_details" -%}
+
+{% if exists("programlisting")%}## Source code
+
+```cpp
+{{programlisting}}
+```
+{% endif %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/kind_group.tmpl b/utils/doxy_templates/kind_group.tmpl
new file mode 100644
index 00000000..f765e1cc
--- /dev/null
+++ b/utils/doxy_templates/kind_group.tmpl
@@ -0,0 +1,17 @@
+{% include "header" -%}
+
+{% include "breadcrumbs" -%}
+
+{% if exists("brief") %}{{brief}}
+
+{% endif -%}
+
+{% include "nonclass_members_tables" -%}
+
+{% if hasDetails %}## Detailed Description
+
+{% include "details" %}{% endif -%}
+
+{% include "nonclass_members_details" -%}
+
+{% include "footer" -%}
diff --git a/utils/doxy_templates/kind_nonclass.tmpl b/utils/doxy_templates/kind_nonclass.tmpl
new file mode 100644
index 00000000..2bc9a75c
--- /dev/null
+++ b/utils/doxy_templates/kind_nonclass.tmpl
@@ -0,0 +1,17 @@
+{% include "header" -%}
+
+{% include "breadcrumbs" -%}
+
+{% if exists("brief") %}{{brief}}
+
+{% endif -%}
+
+{% include "nonclass_members_tables" -%}
+
+{% if hasDetails %}## Detailed Description
+
+{% include "details" %}{% endif -%}
+
+{% include "nonclass_members_details" %}
+
+{% include "footer" %}
\ No newline at end of file
diff --git a/utils/doxy_templates/kind_page.tmpl b/utils/doxy_templates/kind_page.tmpl
new file mode 100644
index 00000000..1ce6706c
--- /dev/null
+++ b/utils/doxy_templates/kind_page.tmpl
@@ -0,0 +1,5 @@
+{% include "header" %}
+
+{% if exists("details") %}{{details}}{% endif %}
+
+{% include "footer" %}
diff --git a/utils/doxy_templates/member_details.tmpl b/utils/doxy_templates/member_details.tmpl
new file mode 100644
index 00000000..5332d893
--- /dev/null
+++ b/utils/doxy_templates/member_details.tmpl
@@ -0,0 +1,86 @@
+{% if kind in ["function", "slot", "signal", "event"] -%}
+```cpp
+{% if exists("templateParams") -%}
+template <{% for param in templateParams %}{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},
+{% endif %}{% endfor %}>
+{% endif -%}
+
+{% if static %}static {% endif -%}
+{% if inline %}inline {% endif -%}
+{% if explicit %}explicit {% endif -%}
+{% if virtual %}virtual {% endif -%}
+
+{% if exists("typePlain") %}{{typePlain}} {% endif %}{{name}}{% if length(params) > 0 -%}
+(
+{% for param in params %}    {{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif %}
+{% endfor -%}
+){% else -%}
+(){% endif -%}
+
+{% if const %} const{% endif -%}
+{% if override %} override{% endif -%}
+{% if default %} =default{% endif -%}
+{% if deleted %} =deleted{% endif -%}
+{% if pureVirtual %} =0{% endif %}
+```{% endif -%}
+
+{% if kind == "enum" -%}
+| Enumerator | Value | Description |
+| ---------- | ----- | ----------- |
+{% for enumvalue in enumvalues %}| {{enumvalue.name}} | {% if existsIn(enumvalue, "initializer") -%}
+{{replace(enumvalue.initializer, "= ", "")}}{% endif -%}
+| {% if existsIn(enumvalue, "brief") %}{{enumvalue.brief}}{% endif %} {% if existsIn(enumvalue, "details") %}{{enumvalue.details}}{% endif %} |
+{% endfor %}
+{% endif -%}
+
+{% if kind in ["variable", "property"] -%}
+```cpp
+{% if static %}static {% endif -%}
+{% if exists("typePlain") %}{{typePlain}} {% endif -%}{{name}}{% if exists("initializer") %} {{initializer}}{% endif %};
+```{% endif -%}
+
+{% if kind == "typedef" -%}
+```cpp
+{{definition}};
+```{% endif -%}
+
+{% if kind == "using" -%}
+```cpp
+{% if exists("templateParams") -%}
+template <{% for param in templateParams %}{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},
+{% endif %}{% endfor %}>
+{% endif -%}
+{{definition}};
+```{% endif -%}
+
+{% if kind == "friend" -%}
+```cpp
+friend {% if exists("typePlain") %}{{typePlain}} {% endif -%}
+{{name}}{% if exists("params") %}{% endif -%}
+{% if length(params) > 0 -%}
+(
+{% for param in params %}    {{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},
+{% endif %}
+{% endfor -%}
+){% else if typePlain != "class" -%}
+(){% endif %};
+```{% endif -%}
+
+{% if kind == "define" -%}
+```cpp
+#define {{name}}{% if exists("params") -%}
+(
+{% for param in params %}    {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},
+{% endif -%}
+{% endfor %}
+)
+{% else %} {% endif -%}
+{% if exists("initializer") %}{{initializer}}{% endif %}
+```{% endif %}
+
+{% include "details" -%}
\ No newline at end of file
diff --git a/utils/doxy_templates/meta.tmpl b/utils/doxy_templates/meta.tmpl
new file mode 100644
index 00000000..e69de29b
diff --git a/utils/doxy_templates/nonclass_members_details.tmpl b/utils/doxy_templates/nonclass_members_details.tmpl
new file mode 100644
index 00000000..dd1b08cd
--- /dev/null
+++ b/utils/doxy_templates/nonclass_members_details.tmpl
@@ -0,0 +1,24 @@
+{% if exists("publicTypes") %}## Types Documentation
+
+{% for child in publicTypes %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif %}
+{% if exists("publicFunctions") %}## Functions Documentation
+
+{% for child in publicFunctions %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif %}
+{% if exists("publicAttributes") %}## Attributes Documentation
+
+{% for child in publicAttributes %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif %}
+{% if exists("defines") %}## Macro Documentation
+
+{% for child in defines %}### {{child.kind}} {{child.name}}
+
+{{ render("member_details", child) }}
+{% endfor %}{% endif %}
\ No newline at end of file
diff --git a/utils/doxy_templates/nonclass_members_tables.tmpl b/utils/doxy_templates/nonclass_members_tables.tmpl
new file mode 100644
index 00000000..fb8093df
--- /dev/null
+++ b/utils/doxy_templates/nonclass_members_tables.tmpl
@@ -0,0 +1,147 @@
+{% if exists("groups") %}## Modules
+
+| Name           |
+| -------------- |
+{% for child in groups -%}
+| **[{{child.title}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{%- endfor %}
+{% endif -%}
+
+{% if exists("dirs") %}## Directories
+
+| Name           |
+| -------------- |
+{% for child in dirs -%}
+| **[{{child.title}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{%- endfor %}
+{% endif -%}
+
+{% if exists("files") %}## Files
+
+| Name           |
+| -------------- |
+{% for child in files -%}
+| **[{{child.title}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{%- endfor %}
+{% endif -%}
+
+{%- if exists("namespaces") %}## Namespaces
+
+| Name           |
+| -------------- |
+{% for child in namespaces -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicClasses") %}## Classes
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicClasses -%}
+| {{child.kind}} | **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicTypes") %}## Types
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicTypes -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{{child.kind}}{% if existsIn(child, "type") %} {{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if child.kind == "enum" %}{ {% for enumvalue in child.enumvalues -%}
+{{enumvalue.name}}{% if existsIn(enumvalue, "initializer") %} {{enumvalue.initializer}}{% endif -%}
+{% if not loop.is_last %}, {% endif %}{% endfor -%}
+ }{% endif -%}
+{% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicSlots") %}## Slots
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicSlots -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicSignals") %}## Signals
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicSignals -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicFunctions") %}## Functions
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicFunctions -%}
+| {% if existsIn(child, "templateParams") -%}
+template <{% for param in child.templateParams -%}
+{{param.typePlain}} {{param.name}}{% if existsIn(param, "defvalPlain") %} ={{param.defvalPlain}}{% endif -%}
+{% if not loop.is_last %},{% endif -%}
+{% endfor %}\> <br>{% endif -%}
+{% if child.virtual %}virtual {% endif -%}
+{% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}](#function-{{child.name}})**({% for param in child.params -%}
+{{param.type}} {{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif -%}
+{% if not loop.is_last %}, {% endif -%}
+{% endfor %}){% if child.const %} const{% endif -%}
+{% if child.override %} override{% endif -%}
+{% if child.default %} =default{% endif -%}
+{% if child.deleted %} =deleted{% endif -%}
+{% if child.pureVirtual %} =0{% endif -%}
+ {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("publicAttributes") %}## Attributes
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in publicAttributes -%}
+| {% if existsIn(child, "type") %}{{child.type}} {% endif -%}
+| **[{{child.name}}]({{child.url}})** {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}
+{%- if exists("defines") %}## Defines
+
+|                | Name           |
+| -------------- | -------------- |
+{% for child in defines -%}
+| {% if existsIn(child, "type") %}{{child.type}}{% endif %} | **[{{child.name}}]({{child.url}})**{% if existsIn(child, "params") %}({% for param in child.params %}{{param.name}}{% if existsIn(param, "defval") %} ={{param.defval}}{% endif %}{% if not loop.is_last %}, {% endif %}{% endfor %}){% endif %} {% if existsIn(child, "brief") %}<br>{{child.brief}}{% endif %} |
+{% endfor %}
+{% endif -%}

From 3087d43a9607298463c0f212d2e125280206f605 Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Wed, 5 May 2021 11:44:42 +0200
Subject: [PATCH 2/4] Minor changes

---
 _data/docs.yml                          |  2 +-
 _docs/api/overview/index.md             |  9 +-------
 _includes/docs_nav.html                 |  2 +-
 _includes/rmw_doc/Modules/group__rmw.md | 30 ++++++++++++-------------
 _includes/topnav.html                   |  2 +-
 5 files changed, 18 insertions(+), 27 deletions(-)

diff --git a/_data/docs.yml b/_data/docs.yml
index 0f04dc25..62b90f4e 100644
--- a/_data/docs.yml
+++ b/_data/docs.yml
@@ -84,7 +84,7 @@
    - tutorials/demos/combined_demos
    - tutorials/demos/moveit2_demo
 
-- title: API reference
+- title: API
   docs:
    - api/overview
    - api/rmw
diff --git a/_docs/api/overview/index.md b/_docs/api/overview/index.md
index 9a13b02f..bb6ae483 100644
--- a/_docs/api/overview/index.md
+++ b/_docs/api/overview/index.md
@@ -5,12 +5,5 @@ redirect_from:
   - /docs/api/
 ---
 
-TODO
-
 * [**RMW Micro XRCE-DDS**](../rmw/)
-
-  TODO
-
-* [**RCLC**](../rclc/)
-
-  TODO
\ No newline at end of file
+* [**RCLC**](../rclc/)
\ No newline at end of file
diff --git a/_includes/docs_nav.html b/_includes/docs_nav.html
index c4677341..3b7e2ac8 100644
--- a/_includes/docs_nav.html
+++ b/_includes/docs_nav.html
@@ -28,7 +28,7 @@
   {% if page.path contains "_docs/tutorials" and section.title == "Demos" %}
     {% assign should_show_this_menu = true %}
   {% endif %}
-  {% if page.path contains "_docs/api" and section.title == "API reference" %}
+  {% if page.path contains "_docs/api" and section.title == "API" %}
     {% assign should_show_this_menu = true %}
   {% endif %}
   {% if should_show_this_menu == true %}
diff --git a/_includes/rmw_doc/Modules/group__rmw.md b/_includes/rmw_doc/Modules/group__rmw.md
index 4756d291..e6b46e94 100644
--- a/_includes/rmw_doc/Modules/group__rmw.md
+++ b/_includes/rmw_doc/Modules/group__rmw.md
@@ -1,23 +1,21 @@
 # micro-ROS RMW API
 
-TODO. 
-
 ## Functions
 
-|                | Name           |
-| -------------- | -------------- |
-| void | **[rmw_uros_set_continous_serialization_callbacks](#function-rmw_uros_set_continous_serialization_callbacks)**(rmw_publisher_t * publisher, rmw_uros_continous_serialization_size size_cb, rmw_uros_continous_serialization serialization_cb)<br>Sets the callback functions for continous serialization for a publisher.  |
-| rmw_ret_t | **[rmw_uros_set_custom_transport](#function-rmw_uros_set_custom_transport)**(bool framing, void * args, open_custom_func open_cb, close_custom_func close_cb, write_custom_func write_cb, read_custom_func read_cb)<br>Check if micro-ROS Agent answers to micro-ROS client.  |
-| rmw_ret_t | **[rmw_uros_discover_agent](#function-rmw_uros_discover_agent)**(rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent.  |
-| rmw_ret_t | **[rmw_uros_init_options](#function-rmw_uros_init_options)**(int argc, const char *const argv[], rmw_init_options_t * rmw_options)<br>Parses command line args and fills rmw implementation-specific options.  |
-| rmw_ret_t | **[rmw_uros_options_set_serial_device](#function-rmw_uros_options_set_serial_device)**(const char * dev, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.  |
-| rmw_ret_t | **[rmw_uros_options_set_udp_address](#function-rmw_uros_options_set_udp_address)**(const char * ip, const char * port, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.  |
-| rmw_ret_t | **[rmw_uros_options_set_client_key](#function-rmw_uros_options_set_client_key)**(uint32_t client_key, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.  |
-| rmw_ret_t | **[rmw_uros_ping_agent](#function-rmw_uros_ping_agent)**(const int timeout_ms, const uint8_t attempts)<br>Check if micro-ROS Agent is up and running.  |
-| bool | **[rmw_uros_epoch_synchronized](#function-rmw_uros_epoch_synchronized)**()<br>Returns the time synchronization state of the epoch time.  |
-| int64_t | **[rmw_uros_epoch_millis](#function-rmw_uros_epoch_millis)**()<br>Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization.  |
-| int64_t | **[rmw_uros_epoch_nanos](#function-rmw_uros_epoch_nanos)**()<br>Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.  |
-| rmw_ret_t | **[rmw_uros_sync_session](#function-rmw_uros_sync_session)**(const int timeout_ms)<br>Synchronizes the session time using the NTP protocol.  |
+|           | Name                                                                                                                                                                                                                                                                                                                      |
+| --------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| void      | **[rmw_uros_set_continous_serialization_callbacks](#function-rmw_uros_set_continous_serialization_callbacks)**(rmw_publisher_t * publisher, rmw_uros_continous_serialization_size size_cb, rmw_uros_continous_serialization serialization_cb)<br>Sets the callback functions for continous serialization for a publisher. |
+| rmw_ret_t | **[rmw_uros_set_custom_transport](#function-rmw_uros_set_custom_transport)**(bool framing, void * args, open_custom_func open_cb, close_custom_func close_cb, write_custom_func write_cb, read_custom_func read_cb)<br>Check if micro-ROS Agent answers to micro-ROS client.                                              |
+| rmw_ret_t | **[rmw_uros_discover_agent](#function-rmw_uros_discover_agent)**(rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent.                                                                                                                     |
+| rmw_ret_t | **[rmw_uros_init_options](#function-rmw_uros_init_options)**(int argc, const char *const argv[], rmw_init_options_t * rmw_options)<br>Parses command line args and fills rmw implementation-specific options.                                                                                                             |
+| rmw_ret_t | **[rmw_uros_options_set_serial_device](#function-rmw_uros_options_set_serial_device)**(const char * dev, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.                                                                                                        |
+| rmw_ret_t | **[rmw_uros_options_set_udp_address](#function-rmw_uros_options_set_udp_address)**(const char * ip, const char * port, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.                                                                                          |
+| rmw_ret_t | **[rmw_uros_options_set_client_key](#function-rmw_uros_options_set_client_key)**(uint32_t client_key, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters.                                                                                                           |
+| rmw_ret_t | **[rmw_uros_ping_agent](#function-rmw_uros_ping_agent)**(const int timeout_ms, const uint8_t attempts)<br>Check if micro-ROS Agent is up and running.                                                                                                                                                                     |
+| bool      | **[rmw_uros_epoch_synchronized](#function-rmw_uros_epoch_synchronized)**()<br>Returns the time synchronization state of the epoch time.                                                                                                                                                                                   |
+| int64_t   | **[rmw_uros_epoch_millis](#function-rmw_uros_epoch_millis)**()<br>Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization.                                                                                                                                         |
+| int64_t   | **[rmw_uros_epoch_nanos](#function-rmw_uros_epoch_nanos)**()<br>Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.                                                                                                                                            |
+| rmw_ret_t | **[rmw_uros_sync_session](#function-rmw_uros_sync_session)**(const int timeout_ms)<br>Synchronizes the session time using the NTP protocol.                                                                                                                                                                               |
 
 
 ## Functions Documentation
diff --git a/_includes/topnav.html b/_includes/topnav.html
index ff2231db..1ce5ebcc 100644
--- a/_includes/topnav.html
+++ b/_includes/topnav.html
@@ -16,7 +16,7 @@
                 <li {% if page.path contains '_docs/overview' %} class="active" {% endif %}><a href="{{ "/docs/overview/" | prepend: site.baseurl }}">Overview</a></li>
                 <li {% if page.path contains '_docs/concepts' %} class="active" {% endif %}><a href="{{ "/docs/concepts/" | prepend: site.baseurl }}">Concepts</a></li>
                 <li {% if page.path contains '_docs/tutorials' %} class="active" {% endif %}><a href="{{ "/docs/tutorials/" | prepend: site.baseurl }}">Tutorials</a></li>
-                <li {% if page.path contains '_docs/api' %} class="active" {% endif %}><a href="{{ "/docs/api/" | prepend: site.baseurl }}">API reference</a></li>
+                <li {% if page.path contains '_docs/api' %} class="active" {% endif %}><a href="{{ "/docs/api/" | prepend: site.baseurl }}">API</a></li>
                 <li {% if page.sectionid=='posts' %} class="active" {% endif %}><a href="{{ site.posts.first.url | prepend: site.baseurl }}">Blog</a></li>
             </ul>
             <ul class="nav navbar-nav navbar-right">

From 570eb3bfb6ef80f3500db3db82e2c39472edfd71 Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Wed, 5 May 2021 12:27:21 +0200
Subject: [PATCH 3/4] Add workflow

---
 .github/workflows/generate_api_reference.yml | 48 ++++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 .github/workflows/generate_api_reference.yml

diff --git a/.github/workflows/generate_api_reference.yml b/.github/workflows/generate_api_reference.yml
new file mode 100644
index 00000000..1dda4f32
--- /dev/null
+++ b/.github/workflows/generate_api_reference.yml
@@ -0,0 +1,48 @@
+name: API reference generator
+on: 
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
+  schedule:
+    - cron:  '0 6 * * *'
+
+jobs:
+  generate_api_reference:
+    runs-on: ubuntu-latest
+    container: ros:foxy
+    steps:
+      - uses: actions/checkout@v2
+      - name: Get date
+        id: date
+        run: echo "::set-output name=date::$(date +'%d-%m-%Y %H:%M')"
+      - name: Update libraries
+        run: |
+          apt update
+          apt install -y doxygen wget git unzip cmake
+
+          pushd /
+            wget https://github.com/matusnovak/doxybook2/releases/download/v1.3.3/doxybook2-linux-amd64-v1.3.3.zip
+            unzip doxybook2-linux-amd64-v1.3.3.zip -d doxybook2
+
+            mkdir -p ros2_ws/src; cd ros2_ws
+            git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR 
+            git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client 
+            git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
+            git clone -b feature/refactor_microros_api https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
+
+            source /opt/ros/$ROS_DISTRO/setup.bash
+            colcon build --packages-up-to rmw_microxrcedds --cmake-args -DBUILD_DOCUMENTATION=ON
+          popd
+
+          /doxybook2/bin/doxybook2 --input /ros2_ws/build/rmw_microxrcedds/doc/xml --output _includes/rmw_doc -c utils/doxy_config -t utils/doxy_templates
+          git status
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@v3
+        with:
+          commit-message: micro-ROS API reference auto-update ${{ steps.date.outputs.date }}
+          title: micro-ROS API reference auto-update ${{ steps.date.outputs.date }}
+          body: This PR is autogenerated and updates the micro-ROS API reference. Close and reopen to trigger CI.
+          branch: autoupdate_micro_ros_api_reference
+          delete-branch: true
+          base: master
\ No newline at end of file

From 5bd6b6f477cc98ce484a308bbfb637b25f445b4b Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Wed, 5 May 2021 15:02:52 +0200
Subject: [PATCH 4/4] Update

---
 .github/workflows/generate_api_reference.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/generate_api_reference.yml b/.github/workflows/generate_api_reference.yml
index 1dda4f32..d6a72022 100644
--- a/.github/workflows/generate_api_reference.yml
+++ b/.github/workflows/generate_api_reference.yml
@@ -29,14 +29,13 @@ jobs:
             git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR 
             git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client 
             git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
-            git clone -b feature/refactor_microros_api https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
+            git clone -b foxy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
 
             source /opt/ros/$ROS_DISTRO/setup.bash
             colcon build --packages-up-to rmw_microxrcedds --cmake-args -DBUILD_DOCUMENTATION=ON
           popd
 
           /doxybook2/bin/doxybook2 --input /ros2_ws/build/rmw_microxrcedds/doc/xml --output _includes/rmw_doc -c utils/doxy_config -t utils/doxy_templates
-          git status
       - name: Create Pull Request
         uses: peter-evans/create-pull-request@v3
         with: