diff --git a/.github/workflows/doc.yml b/.github/workflows/doc.yml
new file mode 100644
index 000000000..bd1b8a124
--- /dev/null
+++ b/.github/workflows/doc.yml
@@ -0,0 +1,23 @@
+name: Documentation
+
+on: push
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Run Doxygen
+        uses: mattnotmitt/doxygen-action@v1.1.0
+        with:
+          working-directory: doc
+          doxyfile-path: Doxyfile
+      - name: Publish to GitHub Pages
+        uses: peaceiris/actions-gh-pages@v3
+        if: github.ref == 'refs/heads/main'
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: doc/html
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
index 41213feff..98871d010 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "denm_en302637_3"]
 	path = asn1/raw/denm_en302637_3
 	url = https://forge.etsi.org/rep/ITS/asn1/denm_en302637_3.git
+[submodule "doc/doxygen-awesome-css"]
+	path = doc/doxygen-awesome-css
+	url = https://github.com/jothepro/doxygen-awesome-css.git
diff --git a/README.md b/README.md
index 4cd3ff388..b74efc4f7 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,7 @@
   <img src="https://img.shields.io/github/license/ika-rwth-aachen/etsi_its_messages"/>
   <a href="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/codegen.yml"><img src="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/codegen.yml/badge.svg"/></a>
   <a href="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/docker-ros.yml"><img src="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/docker-ros.yml/badge.svg"/></a>
+  <a href="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/doc.yml"><img src="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/doc.yml/badge.svg"/></a>
   <img src="https://img.shields.io/badge/ROS-noetic-blueviolet"/>
   <img src="https://img.shields.io/badge/ROS 2-humble|iron|rolling-blueviolet"/>
 </p>
@@ -29,6 +30,7 @@ All message definitions and conversion functions are automatically generated bas
   - [Packages](#packages)
     - [`etsi_its_msgs`](#etsi_its_msgs)
       - [Automated Generation](#automated-generation)
+      - [Access Functions Documentation](#access-functions-documentation)
     - [`etsi_its_coding`](#etsi_its_coding)
       - [Automated Generation](#automated-generation-1)
     - [`etsi_its_conversion`](#etsi_its_conversion)
@@ -104,6 +106,17 @@ The ROS message files are auto-generated based on the [ASN.1 definitions](https:
   -o etsi_its_msgs/etsi_its_cam_msgs/msg
 ```
 
+#### Access Functions Documentation
+
+[Click here](https://ika-rwth-aachen.github.io/etsi_its_messages) to be taken to the API documentation for the implemented access functions.
+
+The documentation can be generated by running [Doxygen](https://doxygen.nl/).
+
+```bash
+# etsi_its_messages/doc$
+doxygen
+```
+
 ### `etsi_its_coding`
 
 The `etsi_its_coding` metapackage includes one dedicated package for each ETSI ITS message type, e.g., `etsi_its_cam_coding`. These packages provide C++ libraries containing a `struct` implementation of the ETSI ITS message types including functions for encoding and decoding the structures to binary buffers.
diff --git a/doc/.gitignore b/doc/.gitignore
new file mode 100644
index 000000000..207b92720
--- /dev/null
+++ b/doc/.gitignore
@@ -0,0 +1 @@
+html/
\ No newline at end of file
diff --git a/doc/Doxyfile b/doc/Doxyfile
new file mode 100644
index 000000000..1e70b911f
--- /dev/null
+++ b/doc/Doxyfile
@@ -0,0 +1,385 @@
+# Doxyfile 1.8.17
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+# DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = "etsi_its_messages"
+PROJECT_NUMBER         = 1.0.0
+# PROJECT_BRIEF          =
+# PROJECT_LOGO           =
+# OUTPUT_DIRECTORY       =
+# CREATE_SUBDIRS         = NO
+# ALLOW_UNICODE_NAMES    = NO
+# OUTPUT_LANGUAGE        = English
+# OUTPUT_TEXT_DIRECTION  = None
+# BRIEF_MEMBER_DESC      = YES
+# REPEAT_BRIEF           = YES
+# ABBREVIATE_BRIEF       = "The $name class" \
+#                          "The $name widget" \
+#                          "The $name file" \
+#                          is \
+#                          provides \
+#                          specifies \
+#                          contains \
+#                          represents \
+#                          a \
+#                          an \
+#                          the
+# ALWAYS_DETAILED_SEC    = NO
+# INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = ../
+# STRIP_FROM_INC_PATH    =
+# SHORT_NAMES            = NO
+# JAVADOC_AUTOBRIEF      = NO
+# JAVADOC_BANNER         = NO
+# QT_AUTOBRIEF           = NO
+# MULTILINE_CPP_IS_BRIEF = NO
+# INHERIT_DOCS           = YES
+# SEPARATE_MEMBER_PAGES  = NO
+# TAB_SIZE               = 4
+# ALIASES                =
+# TCL_SUBST              =
+# OPTIMIZE_OUTPUT_FOR_C  = NO
+# OPTIMIZE_OUTPUT_JAVA   = NO
+# OPTIMIZE_FOR_FORTRAN   = NO
+# OPTIMIZE_OUTPUT_VHDL   = NO
+# OPTIMIZE_OUTPUT_SLICE  = NO
+# EXTENSION_MAPPING      =
+# MARKDOWN_SUPPORT       = YES
+# TOC_INCLUDE_HEADINGS   = 5
+# AUTOLINK_SUPPORT       = YES
+# BUILTIN_STL_SUPPORT    = NO
+# CPP_CLI_SUPPORT        = NO
+# SIP_SUPPORT            = NO
+# IDL_PROPERTY_SUPPORT   = YES
+# DISTRIBUTE_GROUP_DOC   = NO
+# GROUP_NESTED_COMPOUNDS = NO
+# SUBGROUPING            = YES
+# INLINE_GROUPED_CLASSES = NO
+# INLINE_SIMPLE_STRUCTS  = NO
+# TYPEDEF_HIDES_STRUCT   = NO
+# LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+# EXTRACT_ALL            = NO
+# EXTRACT_PRIVATE        = NO
+# EXTRACT_PRIV_VIRTUAL   = NO
+# EXTRACT_PACKAGE        = NO
+# EXTRACT_STATIC         = NO
+# EXTRACT_LOCAL_CLASSES  = YES
+# EXTRACT_LOCAL_METHODS  = NO
+# EXTRACT_ANON_NSPACES   = NO
+# HIDE_UNDOC_MEMBERS     = NO
+# HIDE_UNDOC_CLASSES     = NO
+# HIDE_FRIEND_COMPOUNDS  = NO
+# HIDE_IN_BODY_DOCS      = NO
+# INTERNAL_DOCS          = NO
+# CASE_SENSE_NAMES       = YES
+# HIDE_SCOPE_NAMES       = NO
+# HIDE_COMPOUND_REFERENCE= NO
+# SHOW_INCLUDE_FILES     = YES
+# SHOW_GROUPED_MEMB_INC  = NO
+# FORCE_LOCAL_INCLUDES   = NO
+# INLINE_INFO            = YES
+# SORT_MEMBER_DOCS       = YES
+# SORT_BRIEF_DOCS        = NO
+# SORT_MEMBERS_CTORS_1ST = NO
+# SORT_GROUP_NAMES       = NO
+# SORT_BY_SCOPE_NAME     = NO
+# STRICT_PROTO_MATCHING  = NO
+# GENERATE_TODOLIST      = YES
+# GENERATE_TESTLIST      = YES
+# GENERATE_BUGLIST       = YES
+# GENERATE_DEPRECATEDLIST= YES
+# ENABLED_SECTIONS       =
+# MAX_INITIALIZER_LINES  = 30
+# SHOW_USED_FILES        = YES
+# SHOW_FILES             = YES
+# SHOW_NAMESPACES        = YES
+# FILE_VERSION_FILTER    =
+# LAYOUT_FILE            =
+# CITE_BIB_FILES         =
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+# QUIET                  = NO
+# WARNINGS               = YES
+# WARN_IF_UNDOCUMENTED   = YES
+# WARN_IF_DOC_ERROR      = YES
+# WARN_NO_PARAMDOC       = NO
+# WARN_AS_ERROR          = NO
+# WARN_FORMAT            = "$file:$line: $text"
+# WARN_LOGFILE           =
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = README.md ../etsi_its_msgs/etsi_its_msgs/include
+# INPUT_ENCODING         = UTF-8
+# FILE_PATTERNS          = *.c \
+#                          *.cc \
+#                          *.cxx \
+#                          *.cpp \
+#                          *.c++ \
+#                          *.java \
+#                          *.ii \
+#                          *.ixx \
+#                          *.ipp \
+#                          *.i++ \
+#                          *.inl \
+#                          *.idl \
+#                          *.ddl \
+#                          *.odl \
+#                          *.h \
+#                          *.hh \
+#                          *.hxx \
+#                          *.hpp \
+#                          *.h++ \
+#                          *.cs \
+#                          *.d \
+#                          *.php \
+#                          *.php4 \
+#                          *.php5 \
+#                          *.phtml \
+#                          *.inc \
+#                          *.m \
+#                          *.markdown \
+#                          *.md \
+#                          *.mm \
+#                          *.dox \
+#                          *.doc \
+#                          *.txt \
+#                          *.py \
+#                          *.pyw \
+#                          *.f90 \
+#                          *.f95 \
+#                          *.f03 \
+#                          *.f08 \
+#                          *.f \
+#                          *.for \
+#                          *.tcl \
+#                          *.vhd \
+#                          *.vhdl \
+#                          *.ucf \
+#                          *.qsf \
+#                          *.ice
+RECURSIVE              = YES
+# EXCLUDE                =
+# EXCLUDE_SYMLINKS       = NO
+# EXCLUDE_PATTERNS       =
+# EXCLUDE_SYMBOLS        =
+# EXAMPLE_PATH           =
+# EXAMPLE_PATTERNS       = *
+# EXAMPLE_RECURSIVE      = NO
+# IMAGE_PATH             =
+# INPUT_FILTER           =
+# FILTER_PATTERNS        =
+# FILTER_SOURCE_FILES    = NO
+# FILTER_SOURCE_PATTERNS =
+USE_MDFILE_AS_MAINPAGE = README.md
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = YES
+# STRIP_CODE_COMMENTS    = YES
+# REFERENCED_BY_RELATION = NO
+# REFERENCES_RELATION    = NO
+# REFERENCES_LINK_SOURCE = YES
+# SOURCE_TOOLTIPS        = YES
+# USE_HTAGS              = NO
+# VERBATIM_HEADERS       = YES
+# CLANG_ASSISTED_PARSING = NO
+# CLANG_OPTIONS          =
+# CLANG_DATABASE_PATH    =
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+# ALPHABETICAL_INDEX     = YES
+# COLS_IN_ALPHA_INDEX    = 5
+# IGNORE_PREFIX          =
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+# GENERATE_HTML          = YES
+# HTML_OUTPUT            = html
+# HTML_FILE_EXTENSION    = .html
+# HTML_HEADER            =
+# HTML_FOOTER            =
+# HTML_STYLESHEET        =
+HTML_EXTRA_STYLESHEET  = doxygen-awesome-css/doxygen-awesome.css
+# HTML_EXTRA_FILES       =
+# HTML_COLORSTYLE_HUE    = 220
+# HTML_COLORSTYLE_SAT    = 100
+# HTML_COLORSTYLE_GAMMA  = 80
+# HTML_TIMESTAMP         = NO
+# HTML_DYNAMIC_MENUS     = YES
+# HTML_DYNAMIC_SECTIONS  = NO
+# HTML_INDEX_NUM_ENTRIES = 100
+# GENERATE_DOCSET        = NO
+# DOCSET_FEEDNAME        = "Doxygen generated docs"
+# DOCSET_BUNDLE_ID       = org.doxygen.Project
+# DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+# DOCSET_PUBLISHER_NAME  = Publisher
+# GENERATE_HTMLHELP      = NO
+# CHM_FILE               =
+# HHC_LOCATION           =
+# GENERATE_CHI           = NO
+# CHM_INDEX_ENCODING     =
+# BINARY_TOC             = NO
+# TOC_EXPAND             = NO
+# GENERATE_QHP           = NO
+# QCH_FILE               =
+# QHP_NAMESPACE          = org.doxygen.Project
+# QHP_VIRTUAL_FOLDER     = doc
+# QHP_CUST_FILTER_NAME   =
+# QHP_CUST_FILTER_ATTRS  =
+# QHP_SECT_FILTER_ATTRS  =
+# QHG_LOCATION           =
+# GENERATE_ECLIPSEHELP   = NO
+# ECLIPSE_DOC_ID         = org.doxygen.Project
+# DISABLE_INDEX          = NO
+# GENERATE_TREEVIEW      = NO
+# ENUM_VALUES_PER_LINE   = 4
+# TREEVIEW_WIDTH         = 250
+# EXT_LINKS_IN_WINDOW    = NO
+# FORMULA_FONTSIZE       = 10
+# FORMULA_TRANSPARENT    = YES
+# FORMULA_MACROFILE      =
+# USE_MATHJAX            = NO
+# MATHJAX_FORMAT         = HTML-CSS
+# MATHJAX_RELPATH        = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/
+# MATHJAX_EXTENSIONS     =
+# MATHJAX_CODEFILE       =
+# SEARCHENGINE           = YES
+# SERVER_BASED_SEARCH    = NO
+# EXTERNAL_SEARCH        = NO
+# SEARCHENGINE_URL       =
+# SEARCHDATA_FILE        = searchdata.xml
+# EXTERNAL_SEARCH_ID     =
+# EXTRA_SEARCH_MAPPINGS  =
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+# LATEX_OUTPUT           = latex
+# LATEX_CMD_NAME         =
+# MAKEINDEX_CMD_NAME     = makeindex
+# LATEX_MAKEINDEX_CMD    = makeindex
+# COMPACT_LATEX          = NO
+# PAPER_TYPE             = a4
+# EXTRA_PACKAGES         =
+# LATEX_HEADER           =
+# LATEX_FOOTER           =
+# LATEX_EXTRA_STYLESHEET =
+# LATEX_EXTRA_FILES      =
+# PDF_HYPERLINKS         = YES
+# USE_PDFLATEX           = YES
+# LATEX_BATCHMODE        = NO
+# LATEX_HIDE_INDICES     = NO
+# LATEX_SOURCE_CODE      = NO
+# LATEX_BIB_STYLE        = plain
+# LATEX_TIMESTAMP        = NO
+# LATEX_EMOJI_DIRECTORY  =
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+# GENERATE_RTF           = NO
+# RTF_OUTPUT             = rtf
+# COMPACT_RTF            = NO
+# RTF_HYPERLINKS         = NO
+# RTF_STYLESHEET_FILE    =
+# RTF_EXTENSIONS_FILE    =
+# RTF_SOURCE_CODE        = NO
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+# GENERATE_MAN           = NO
+# MAN_OUTPUT             = man
+# MAN_EXTENSION          = .3
+# MAN_SUBDIR             =
+# MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+# GENERATE_XML           = NO
+# XML_OUTPUT             = xml
+# XML_PROGRAMLISTING     = YES
+# XML_NS_MEMB_FILE_SCOPE = NO
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+# GENERATE_DOCBOOK       = NO
+# DOCBOOK_OUTPUT         = docbook
+# DOCBOOK_PROGRAMLISTING = NO
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+# GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+# GENERATE_PERLMOD       = NO
+# PERLMOD_LATEX          = NO
+# PERLMOD_PRETTY         = YES
+# PERLMOD_MAKEVAR_PREFIX =
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+# ENABLE_PREPROCESSING   = YES
+# MACRO_EXPANSION        = NO
+# EXPAND_ONLY_PREDEF     = NO
+# SEARCH_INCLUDES        = YES
+# INCLUDE_PATH           =
+# INCLUDE_FILE_PATTERNS  =
+# PREDEFINED             =
+# EXPAND_AS_DEFINED      =
+# SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+# TAGFILES               =
+# GENERATE_TAGFILE       =
+# ALLEXTERNALS           = NO
+# EXTERNAL_GROUPS        = YES
+# EXTERNAL_PAGES         = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+# CLASS_DIAGRAMS         = YES
+# DIA_PATH               =
+# HIDE_UNDOC_RELATIONS   = YES
+# HAVE_DOT               = YES
+# DOT_NUM_THREADS        = 0
+# DOT_FONTNAME           = Helvetica
+# DOT_FONTSIZE           = 10
+# DOT_FONTPATH           =
+# CLASS_GRAPH            = YES
+# COLLABORATION_GRAPH    = YES
+# GROUP_GRAPHS           = YES
+# UML_LOOK               = NO
+# UML_LIMIT_NUM_FIELDS   = 10
+# TEMPLATE_RELATIONS     = NO
+# INCLUDE_GRAPH          = YES
+# INCLUDED_BY_GRAPH      = YES
+# CALL_GRAPH             = NO
+# CALLER_GRAPH           = NO
+# GRAPHICAL_HIERARCHY    = YES
+# DIRECTORY_GRAPH        = YES
+# DOT_IMAGE_FORMAT       = png
+# INTERACTIVE_SVG        = NO
+# DOT_PATH               =
+# DOTFILE_DIRS           =
+# MSCFILE_DIRS           =
+# DIAFILE_DIRS           =
+# PLANTUML_JAR_PATH      =
+# PLANTUML_CFG_FILE      =
+# PLANTUML_INCLUDE_PATH  =
+# DOT_GRAPH_MAX_NODES    = 50
+# MAX_DOT_GRAPH_DEPTH    = 0
+# DOT_TRANSPARENT        = NO
+# DOT_MULTI_TARGETS      = NO
+# GENERATE_LEGEND        = YES
+# DOT_CLEANUP            = YES
\ No newline at end of file
diff --git a/doc/README.md b/doc/README.md
new file mode 100644
index 000000000..9dc33391e
--- /dev/null
+++ b/doc/README.md
@@ -0,0 +1,7 @@
+# etsi_its_messages
+
+The *etsi_its_messages* package stack allows to use standardized ETSI ITS messages for V2X communication in ROS / ROS 2 systems. Apart from the definition of ROS message equivalents to the ETSI ITS standards, this package stack also includes a conversion node for serializing the messages to and from a UDP payload, as well as RViz plugins for visualization (ROS 2 only).
+
+All message definitions and conversion functions are automatically generated based on the [ASN.1 definitions](https://forge.etsi.org/rep/ITS/asn1) of the standardized ETSI ITS messages.
+
+Please note that this is the Code API Documentation for the handy access functions of the generated ETSI ITS messages. Check out the [GitHub repository](https://github.com/ika-rwth-aachen/etsi_its_messages) for more information on how to install and use this package stack.
\ No newline at end of file
diff --git a/doc/doxygen-awesome-css b/doc/doxygen-awesome-css
new file mode 160000
index 000000000..df83fbf22
--- /dev/null
+++ b/doc/doxygen-awesome-css
@@ -0,0 +1 @@
+Subproject commit df83fbf22cfff76b875c13d324baf584c74e96d0
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.h
index 018e4db70..b0caa474f 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,7 +21,13 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
+
+/**
+ * @file cam_access.h
+ * @brief Main CAM access header to include in ROS 1 projects
+ */
 
 #pragma once
 
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.hpp b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.hpp
index e5d02c767..b5ff17d92 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.hpp
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/cam_access.hpp
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,7 +21,13 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
+
+/**
+ * @file cam_access.hpp
+ * @brief Main CAM access header to include in ROS 2 projects
+ */
 
 #pragma once
 
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_access.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_access.h
index b19d43309..9d7d50b92 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_access.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_access.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,11 +21,12 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
- * @brief Main object access header to include
+ * @file impl/cam/cam_access.h
+ * @brief Main CAM access implementation header
  */
 
 #pragma once
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_getters.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_getters.h
index 722d36765..0f7837aa8 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_getters.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_getters.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,11 +21,12 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
- * @brief Getter functions for etsi_its_cam_msgs CAM
+ * @file impl/cam/cam_getters.h
+ * @brief Getter functions for the ETSI ITS CAM
  */
 
 #pragma once
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_setters.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_setters.h
index 76d510170..68755c222 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_setters.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_setters.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,11 +21,12 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
- * @brief Setter functions for etsi_its_cam_msgs CAM
+ * @file impl/cam/cam_setters.h
+ * @brief Setter functions for the ETSI ITS CAM
  */
 
 #pragma once
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_utils.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_utils.h
index 90ef2bc65..bdab35460 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_utils.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cam/cam_utils.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,11 +21,12 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
- * @brief Utility functions for etsi_its_cam_msgs CAM
+ * @file impl/cam/cam_utils.h
+ * @brief Utility functions for the ETSI ITS CAM
  */
 
 #include <etsi_its_msgs/impl/cdd/cdd_checks.h>
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_access.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_access.h
index b24afda34..81678dd8a 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_access.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_access.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,11 +21,12 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
- * @brief Main CDD access header to include
+ * @file impl/cdd/cdd_access.h
+ * @brief Main CDD access implementation header
  */
 
 #pragma once
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_checks.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_checks.h
index 3c329ab56..a32a9e624 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_checks.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_checks.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,10 +21,11 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
+ * @file impl/cdd/cdd_checks.h
  * @brief Sanity-check functions etc. for the ETSI ITS Common Data Dictionary (CDD)
  */
 
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_getters.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_getters.h
index cdb8d15ba..b54f2e721 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_getters.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_getters.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,10 +21,11 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
+ * @file impl/cdd/cdd_getters.h
  * @brief Getter functions for the ETSI ITS Common Data Dictionary (CDD)
  */
 
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_setters.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_setters.h
index d49695d35..7ae53b9dc 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_setters.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/cdd/cdd_setters.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,10 +21,11 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
 
 /**
- * @file
+ * @file impl/cdd/cdd_setters.h
  * @brief Setter functions for the ETSI ITS Common Data Dictionary (CDD)
  */
 
diff --git a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/constants.h b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/constants.h
index c3ef72ff8..ab8a7cf2c 100644
--- a/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/constants.h
+++ b/etsi_its_msgs/etsi_its_msgs/include/etsi_its_msgs/impl/constants.h
@@ -1,4 +1,5 @@
-/** ============================================================================
+/*
+=============================================================================
 MIT License
 
 Copyright (c) 2023 Institute for Automotive Engineering (ika), RWTH Aachen University
@@ -20,7 +21,13 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-============================================================================= */
+=============================================================================
+*/
+
+/**
+ * @file impl/constants.h
+ * @brief File containing constants that are used in the context of ETIS ITS Messages
+ */
 
 #pragma once