diff --git a/README.md b/README.md
index 26eb44cea..7eb985dc1 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,7 @@
+# rcl
 This repository contains several packages which are all related to the `rcl` package.
 
-## Packages
-
- - rcl
- - rcl_action
- - rcl_lifecycle
- - rcl_yaml_parm_parser
+ - [rcl](rcl/README.md)
+ - [rcl_action](rcl_action/README.md)
+ - [rcl_lifecycle](rcl_lifecycle/README.md)
+ - [rcl_yaml_param_parser](rcl_yaml_param_parser/README.md)
diff --git a/rcl/README.md b/rcl/README.md
index f472a6585..c7f778382 100644
--- a/rcl/README.md
+++ b/rcl/README.md
@@ -2,5 +2,6 @@
 
 Library to support implementation of language specific ROS Client Libraries.
 
-This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](./QUALITY_DECLARATION.md) for more details.
+Features are described in detail at [http://docs.ros2.org](http://docs.ros2.org/latest/api/rcl/index.html)
 
+This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](./QUALITY_DECLARATION.md) for more details.
diff --git a/rcl_action/README.md b/rcl_action/README.md
index 2b215c80b..bd9e26745 100644
--- a/rcl_action/README.md
+++ b/rcl_action/README.md
@@ -2,6 +2,8 @@
 
 `rcl_action` provides functionality for ROS 2 actions in C.
 
+Features are described in detail at [http://docs.ros2.org](http://docs.ros2.org/latest/api/rcl_action/index.html)
+
 For more information about ROS 2 actions, see:
 http://design.ros2.org/articles/actions.html
 
diff --git a/rcl_lifecycle/README.md b/rcl_lifecycle/README.md
index 448bd2984..e6fabf07b 100644
--- a/rcl_lifecycle/README.md
+++ b/rcl_lifecycle/README.md
@@ -2,6 +2,8 @@
 
 `rcl_lifecycle` provides functionality for ROS 2 lifecycle nodes in C.
 
+Features are described in detail at [http://docs.ros2.org](http://docs.ros2.org/latest/api/rcl_lifecycle/index.html)
+
 For more information about lifecycle nodes, see:
 https://design.ros2.org/articles/node_lifecycle.html
 
diff --git a/rcl_yaml_param_parser/README.md b/rcl_yaml_param_parser/README.md
index dda6c8324..7e571045c 100644
--- a/rcl_yaml_param_parser/README.md
+++ b/rcl_yaml_param_parser/README.md
@@ -1,6 +1,8 @@
 **ROS2 rcl YAML paramter parser**
 
-Parse a YAML parameter file and populate the C data structure
+Parse a YAML parameter file and populate the C data structure.
+
+Features are described in detail at [http://docs.ros2.org](http://docs.ros2.org/latest/api/rcl_yaml_param_parser/index.html)
 
 The data structure params_st will then be used during node initialization
 
@@ -24,7 +26,7 @@ NOTE: It only supports canonical int and float types
         <field2_name>: <field2_value>
 ```
 
-This package depends on C libyaml
+This package depends on C libyaml.
 
 ## Quality Declaration
 
diff --git a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
index 24e331e0d..37690c1e5 100644
--- a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
+++ b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
@@ -12,6 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/** \mainpage rcl_yaml_param_parser: Parse a YAML parameter file and populate the C data structure
+ *
+ *  - Parser
+ *  - rcl/parser.h
+ *
+ * Some useful abstractions and utilities:
+ * - Return code types
+ *   - rcl/types.h
+ * - Macros for controlling symbol visibility on the library
+ *   - rcl/visibility_control.h
+ */
+
 #ifndef RCL_YAML_PARAM_PARSER__PARSER_H_
 #define RCL_YAML_PARAM_PARSER__PARSER_H_