diff --git a/src/RosLib.js b/src/RosLib.js
index fc59e80a7..81397fb84 100644
--- a/src/RosLib.js
+++ b/src/RosLib.js
@@ -6,7 +6,7 @@
 /**
  * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB.
  *
- * If you use nodejs, this is the variable you get when you require('roslib')
+ * If you use nodejs, this is the variable you get when you require('roslib').
  */
 var ROSLIB = this.ROSLIB || {
   /**
diff --git a/src/actionlib/ActionClient.js b/src/actionlib/ActionClient.js
index 1f63f2de2..e0772c1e0 100644
--- a/src/actionlib/ActionClient.js
+++ b/src/actionlib/ActionClient.js
@@ -11,20 +11,20 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2;
  * An actionlib action client.
  *
  * Emits the following events:
- *  * 'timeout' - if a timeout occurred while sending a goal
- *  * 'status' - the status messages received from the action server
- *  * 'feedback' -  the feedback messages received from the action server
- *  * 'result' - the result returned from the action server
+ *  * 'timeout' - If a timeout occurred while sending a goal.
+ *  * 'status' - The status messages received from the action server.
+ *  * 'feedback' - The feedback messages received from the action server.
+ *  * 'result' - The result returned from the action server.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * serverName - the action server name, like /fibonacci
- *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- *   * timeout - the timeout length when connecting to the action server
- *   * omitFeedback - the boolean flag to indicate whether to omit the feedback channel or not
- *   * omitStatus - the boolean flag to indicate whether to omit the status channel or not
- *   * omitResult - the boolean flag to indicate whether to omit the result channel or not
+ * @constructor
+ * @param {Object} options
+ * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+ * @param {string} options.serverName - The action server name, like '/fibonacci'.
+ * @param {string} options.actionName - The action message name, like 'actionlib_tutorials/FibonacciAction'.
+ * @param {number} [options.timeout] - The timeout length when connecting to the action server.
+ * @param {boolean} [options.omitFeedback] - The flag to indicate whether to omit the feedback channel or not.
+ * @param {boolean} [options.omitStatus] - The flag to indicate whether to omit the status channel or not.
+ * @param {boolean} [options.omitResult] - The flag to indicate whether to omit the result channel or not.
  */
 function ActionClient(options) {
   var that = this;
diff --git a/src/actionlib/ActionListener.js b/src/actionlib/ActionListener.js
index 2553dc480..0000944d7 100644
--- a/src/actionlib/ActionListener.js
+++ b/src/actionlib/ActionListener.js
@@ -9,18 +9,18 @@ var Message = require('../core/Message');
 var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
 /**
- * An actionlib action listener
+ * An actionlib action listener.
  *
  * Emits the following events:
- *  * 'status' - the status messages received from the action server
- *  * 'feedback' -  the feedback messages received from the action server
- *  * 'result' - the result returned from the action server
+ *  * 'status' - The status messages received from the action server.
+ *  * 'feedback' - The feedback messages received from the action server.
+ *  * 'result' - The result returned from the action server.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * serverName - the action server name, like /fibonacci
- *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
+ * @constructor
+ * @param {Object} options
+ * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+ * @param {string} options.serverName - The action server name, like '/fibonacci'.
+ * @param {string} options.actionName - The action message name, like 'actionlib_tutorials/FibonacciAction'.
  */
 function ActionListener(options) {
   var that = this;
@@ -28,10 +28,6 @@ function ActionListener(options) {
   this.ros = options.ros;
   this.serverName = options.serverName;
   this.actionName = options.actionName;
-  this.timeout = options.timeout;
-  this.omitFeedback = options.omitFeedback;
-  this.omitStatus = options.omitStatus;
-  this.omitResult = options.omitResult;
 
 
   // create the topics associated with actionlib
diff --git a/src/actionlib/Goal.js b/src/actionlib/Goal.js
index 881475b09..6cdd5af41 100644
--- a/src/actionlib/Goal.js
+++ b/src/actionlib/Goal.js
@@ -7,15 +7,15 @@ var Message = require('../core/Message');
 var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
 /**
- * An actionlib goal goal is associated with an action server.
+ * An actionlib goal that is associated with an action server.
  *
  * Emits the following events:
- *  * 'timeout' - if a timeout occurred while sending a goal
+ *  * 'timeout' - If a timeout occurred while sending a goal.
  *
- *  @constructor
- *  @param object with following keys:
- *   * actionClient - the ROSLIB.ActionClient to use with this goal
- *   * goalMessage - The JSON object containing the goal for the action server
+ * @constructor
+ * @param {Object} options
+ * @param {ActionClient} options.actionClient - The ROSLIB.ActionClient to use with this goal.
+ * @param {Object} options.goalMessage - The JSON object containing the goal for the action server.
  */
 function Goal(options) {
   var that = this;
@@ -62,7 +62,7 @@ Goal.prototype.__proto__ = EventEmitter2.prototype;
 /**
  * Send the goal to the action server.
  *
- * @param timeout (optional) - a timeout length for the goal's result
+ * @param {number} [timeout] - A timeout length for the goal's result.
  */
 Goal.prototype.send = function(timeout) {
   var that = this;
@@ -86,4 +86,4 @@ Goal.prototype.cancel = function() {
   this.actionClient.cancelTopic.publish(cancelMessage);
 };
 
-module.exports = Goal;
\ No newline at end of file
+module.exports = Goal;
diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js
index 6ce70a870..f23a9064a 100644
--- a/src/actionlib/SimpleActionServer.js
+++ b/src/actionlib/SimpleActionServer.js
@@ -11,16 +11,15 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2;
  * An actionlib action server client.
  *
  * Emits the following events:
- *  * 'goal' - goal sent by action client
- *  * 'cancel' - action client has canceled the request
+ *  * 'goal' - Goal sent by action client.
+ *  * 'cancel' - Action client has canceled the request.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * serverName - the action server name, like /fibonacci
- *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
+ * @constructor
+ * @param {Object} options
+ * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+ * @param {string} options.serverName - The action server name, like '/fibonacci'.
+ * @param {string} options.actionName - The action message name, like 'actionlib_tutorials/FibonacciAction'.
  */
-
 function SimpleActionServer(options) {
     var that = this;
     options = options || {};
@@ -77,7 +76,7 @@ function SimpleActionServer(options) {
     this.nextGoal = null; // the one that'll be preempting
 
     goalListener.subscribe(function(goalMessage) {
-        
+
     if(that.currentGoal) {
             that.nextGoal = goalMessage;
             // needs to happen AFTER rest is set up
@@ -89,7 +88,7 @@ function SimpleActionServer(options) {
     }
     });
 
-    // helper function for determing ordering of timestamps
+    // helper function to determine ordering of timestamps
     // returns t1 < t2
     var isEarlier = function(t1, t2) {
         if(t1.secs > t2.secs) {
@@ -128,7 +127,6 @@ function SimpleActionServer(options) {
             }
             if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,
                                              cancelMessage.stamp)) {
-                
                 that.emit('cancel');
             }
         }
@@ -149,15 +147,14 @@ function SimpleActionServer(options) {
 SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
-*  Set action state to succeeded and return to client
-*/
-
-SimpleActionServer.prototype.setSucceeded = function(result2) {
-    
-
+ * Set action state to succeeded and return to client.
+ *
+ * @param {Object} result - The result to return to the client.
+ */
+SimpleActionServer.prototype.setSucceeded = function(result) {
     var resultMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 3},
-        result : result2
+        result : result
     });
     this.resultPublisher.publish(resultMessage);
 
@@ -172,13 +169,14 @@ SimpleActionServer.prototype.setSucceeded = function(result2) {
 };
 
 /**
-*  Set action state to aborted and return to client
-*/
-
-SimpleActionServer.prototype.setAborted = function(result2) {
+ * Set action state to aborted and return to client.
+ *
+ * @param {Object} result - The result to return to the client.
+ */
+SimpleActionServer.prototype.setAborted = function(result) {
     var resultMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 4},
-        result : result2
+        result : result
     });
     this.resultPublisher.publish(resultMessage);
 
@@ -193,24 +191,22 @@ SimpleActionServer.prototype.setAborted = function(result2) {
 };
 
 /**
-*  Function to send feedback
-*/
-
-SimpleActionServer.prototype.sendFeedback = function(feedback2) {
-
+ * Send a feedback message.
+ *
+ * @param {Object} feedback - The feedback to send to the client.
+ */
+SimpleActionServer.prototype.sendFeedback = function(feedback) {
     var feedbackMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 1},
-        feedback : feedback2
+        feedback : feedback
     });
     this.feedbackPublisher.publish(feedbackMessage);
 };
 
 /**
-*  Handle case where client requests preemption
-*/
-
+ * Handle case where client requests preemption.
+ */
 SimpleActionServer.prototype.setPreempted = function() {
-
     this.statusMessage.status_list = [];
     var resultMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 2},
@@ -226,4 +222,4 @@ SimpleActionServer.prototype.setPreempted = function() {
     }
 };
 
-module.exports = SimpleActionServer;
\ No newline at end of file
+module.exports = SimpleActionServer;
diff --git a/src/core/Message.js b/src/core/Message.js
index 5cb1f7d48..4dbec3e16 100644
--- a/src/core/Message.js
+++ b/src/core/Message.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
@@ -9,7 +9,7 @@ var assign = require('object-assign');
  * Message objects are used for publishing and subscribing to and from topics.
  *
  * @constructor
- * @param values - object matching the fields defined in the .msg definition file
+ * @param {Object} values - An object matching the fields defined in the .msg definition file.
  */
 function Message(values) {
   assign(this, values);
diff --git a/src/core/Param.js b/src/core/Param.js
index 03b85df39..65416eae8 100644
--- a/src/core/Param.js
+++ b/src/core/Param.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
@@ -10,9 +10,9 @@ var ServiceRequest = require('./ServiceRequest');
  * A ROS parameter.
  *
  * @constructor
- * @param options - possible keys include:
- *   * ros - the ROSLIB.Ros connection handle
- *   * name - the param name, like max_vel_x
+ * @param {Object} options
+ * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+ * @param {string} options.name - The param name, like max_vel_x.
  */
 function Param(options) {
   options = options || {};
@@ -21,10 +21,10 @@ function Param(options) {
 }
 
 /**
- * Fetches the value of the param.
+ * Fetch the value of the param.
  *
- * @param callback - function with the following params:
- *  * value - the value of the param from ROS.
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.value - The value of the param from ROS.
  */
 Param.prototype.get = function(callback) {
   var paramClient = new Service({
@@ -44,9 +44,10 @@ Param.prototype.get = function(callback) {
 };
 
 /**
- * Sets the value of the param in ROS.
+ * Set the value of the param in ROS.
  *
- * @param value - value to set param to.
+ * @param {Object} value - The value to set param to.
+ * @param {function} callback - The callback function.
  */
 Param.prototype.set = function(value, callback) {
   var paramClient = new Service({
@@ -65,6 +66,8 @@ Param.prototype.set = function(value, callback) {
 
 /**
  * Delete this parameter on the ROS server.
+ *
+ * @param {function} callback - The callback function.
  */
 Param.prototype.delete = function(callback) {
   var paramClient = new Service({
@@ -80,4 +83,4 @@ Param.prototype.delete = function(callback) {
   paramClient.callService(request, callback);
 };
 
-module.exports = Param;
\ No newline at end of file
+module.exports = Param;
diff --git a/src/core/Ros.js b/src/core/Ros.js
index 71c2632d5..ea34d519e 100644
--- a/src/core/Ros.js
+++ b/src/core/Ros.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
@@ -17,18 +17,18 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2;
  * Manages connection to the server and all interactions with ROS.
  *
  * Emits the following events:
- *  * 'error' - there was an error with ROS
- *  * 'connection' - connected to the WebSocket server
- *  * 'close' - disconnected to the WebSocket server
- *  * <topicName> - a message came from rosbridge with the given topic name
- *  * <serviceID> - a service response came from rosbridge with the given ID
+ *  * 'error' - There was an error with ROS.
+ *  * 'connection' - Connected to the WebSocket server.
+ *  * 'close' - Disconnected to the WebSocket server.
+ *  * &#60;topicName&#62; - A message came from rosbridge with the given topic name.
+ *  * &#60;serviceID&#62; - A service response came from rosbridge with the given ID.
  *
  * @constructor
- * @param options - possible keys include: <br>
- *   * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) <br>
- *   * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)
- *   * transportLibrary (optional) - one of 'websocket', 'workersocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
- *   * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
+ * @param {Object} options
+ * @param {string} [options.url] - The WebSocket URL for rosbridge or the node server URL to connect using socket.io (if socket.io exists in the page). Can be specified later with `connect`.
+ * @param {boolean} [options.groovyCompatibility=true] - Don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools.
+ * @param {string} [options.transportLibrary=websocket] - One of 'websocket', 'workersocket', 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
+ * @param {Object} [options.transportOptions={}] - The options to use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
  */
 function Ros(options) {
   options = options || {};
@@ -61,7 +61,7 @@ Ros.prototype.__proto__ = EventEmitter2.prototype;
 /**
  * Connect to the specified WebSocket.
  *
- * @param url - WebSocket URL or RTCDataChannel label for Rosbridge
+ * @param {string} url - WebSocket URL or RTCDataChannel label for rosbridge.
  */
 Ros.prototype.connect = function(url) {
   if (this.transportLibrary === 'socket.io') {
@@ -96,15 +96,15 @@ Ros.prototype.close = function() {
 };
 
 /**
- * Sends an authorization request to the server.
+ * Send an authorization request to the server.
  *
- * @param mac - MAC (hash) string given by the trusted source.
- * @param client - IP of the client.
- * @param dest - IP of the destination.
- * @param rand - Random string given by the trusted source.
- * @param t - Time of the authorization request.
- * @param level - User level as a string given by the client.
- * @param end - End time of the client's session.
+ * @param {string} mac - MAC (hash) string given by the trusted source.
+ * @param {string} client - IP of the client.
+ * @param {string} dest - IP of the destination.
+ * @param {string} rand - Random string given by the trusted source.
+ * @param {Object} t - Time of the authorization request.
+ * @param {string} level - User level as a string given by the client.
+ * @param {Object} end - End time of the client's session.
  */
 Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
   // create the request
@@ -122,7 +122,12 @@ Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
   this.callOnConnection(auth);
 };
 
-Ros.prototype.sendEncodedMessage= function(messageEncoded) {
+/**
+ * Send an encoded message over the WebSocket.
+ *
+ * @param {Object} messageEncoded - The encoded message to be sent.
+ */
+Ros.prototype.sendEncodedMessage = function(messageEncoded) {
   var emitter = null;
   var that = this;
   if (this.transportLibrary === 'socket.io') {
@@ -141,8 +146,10 @@ Ros.prototype.sendEncodedMessage= function(messageEncoded) {
 };
 
 /**
- * Sends the message over the WebSocket, but queues the message up if not yet
+ * Send the message over the WebSocket, but queue the message up if not yet
  * connected.
+ *
+ * @param {Object} message - The message to be sent.
  */
 Ros.prototype.callOnConnection = function(message) {
   if (this.transportOptions.encoder) {
@@ -153,10 +160,10 @@ Ros.prototype.callOnConnection = function(message) {
 };
 
 /**
- * Sends a set_level request to the server
+ * Send a set_level request to the server.
  *
- * @param level - Status level (none, error, warning, info)
- * @param id - Optional: Operation ID to change status level on
+ * @param {string} level - Status level (none, error, warning, info).
+ * @param {number} [id] - Operation ID to change status level on.
  */
 Ros.prototype.setStatusLevel = function(level, id){
   var levelMsg = {
@@ -169,12 +176,12 @@ Ros.prototype.setStatusLevel = function(level, id){
 };
 
 /**
- * Retrieves Action Servers in ROS as an array of string
+ * Retrieve a list of action servers in ROS as an array of string.
  *
- * @param callback function with params:
- *   * actionservers - Array of action server names
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.actionservers - Array of action server names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getActionServers = function(callback, failedCallback) {
   var getActionServers = new Service({
@@ -201,13 +208,14 @@ Ros.prototype.getActionServers = function(callback, failedCallback) {
 };
 
 /**
- * Retrieves list of topics in ROS as an array.
+ * Retrieve a list of topics in ROS as an array.
  *
- * @param callback function with params:
- *   * topics - Array of topic names
- *   * types - Array of message type names
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.result - The result object with the following params:
+ * @param {string[]} callback.result.topics - Array of topic names.
+ * @param {string[]} callback.result.types - Array of message type names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getTopics = function(callback, failedCallback) {
   var topicsClient = new Service({
@@ -234,13 +242,13 @@ Ros.prototype.getTopics = function(callback, failedCallback) {
 };
 
 /**
- * Retrieves Topics in ROS as an array as specific type
+ * Retrieve a list of topics in ROS as an array of a specific type.
  *
- * @param topicType topic type to find
- * @param callback function with params:
- *   * topics - Array of topic names
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {string} topicType - The topic type to find.
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.topics - Array of topic names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
   var topicsForTypeClient = new Service({
@@ -269,12 +277,12 @@ Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
 };
 
 /**
- * Retrieves list of active service names in ROS.
+ * Retrieve a list of active service names in ROS.
  *
- * @param callback - function with the following params:
- *   * services - array of service names
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.services - Array of service names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getServices = function(callback, failedCallback) {
   var servicesClient = new Service({
@@ -301,13 +309,13 @@ Ros.prototype.getServices = function(callback, failedCallback) {
 };
 
 /**
- * Retrieves list of services in ROS as an array as specific type
+ * Retrieve a list of services in ROS as an array as specific type.
  *
- * @param serviceType service type to find
- * @param callback function with params:
- *   * topics - Array of service names
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {string} serviceType - The service type to find.
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.topics - Array of service names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {
   var servicesForTypeClient = new Service({
@@ -336,13 +344,14 @@ Ros.prototype.getServicesForType = function(serviceType, callback, failedCallbac
 };
 
 /**
- * Retrieves a detail of ROS service request.
+ * Retrieve the details of a ROS service request.
  *
- * @param service name of service:
- * @param callback - function with params:
- *   * type - String of the service type
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {string} type - The type of the service.
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.result - The result object with the following params:
+ * @param {string[]} callback.result.typedefs - An array containing the details of the service request.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) {
   var serviceTypeClient = new Service({
@@ -371,13 +380,14 @@ Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback
 };
 
 /**
- * Retrieves a detail of ROS service request.
+ * Retrieve the details of a ROS service response.
  *
- * @param service name of service
- * @param callback - function with params:
- *   * type - String of the service type
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {string} type - The type of the service.
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.result - The result object with the following params:
+ * @param {string[]} callback.result.typedefs - An array containing the details of the service response.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) {
   var serviceTypeClient = new Service({
@@ -406,12 +416,12 @@ Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallbac
 };
 
 /**
- * Retrieves list of active node names in ROS.
+ * Retrieve a list of active node names in ROS.
  *
- * @param callback - function with the following params:
- *   * nodes - array of node names
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.nodes - Array of node names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getNodes = function(callback, failedCallback) {
   var nodesClient = new Service({
@@ -438,16 +448,33 @@ Ros.prototype.getNodes = function(callback, failedCallback) {
 };
 
 /**
-  * Retrieves list subscribed topics, publishing topics and services of a specific node
-  *
-  * @param node name of the node:
-  * @param callback - function with params:
-  *   * publications - array of published topic names
-  *   * subscriptions - array of subscribed topic names
-  *   * services - array of service names hosted
-  * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
-  */
+ * Retrieve a list of subscribed topics, publishing topics and services of a specific node.
+ * <br>
+ * These are the parameters if failedCallback is <strong>defined</strong>.
+ *
+ * @param {string} node - Name of the node.
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.subscriptions - Array of subscribed topic names.
+ * @param {string[]} callback.publications - Array of published topic names.
+ * @param {string[]} callback.services - Array of service names hosted.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
+ *
+ * @also
+ *
+ * Retrieve a list of subscribed topics, publishing topics and services of a specific node.
+ * <br>
+ * These are the parameters if failedCallback is <strong>undefined</strong>.
+ *
+ * @param {string} node - Name of the node.
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.result - The result object with the following params:
+ * @param {string[]} callback.result.subscribing - Array of subscribed topic names.
+ * @param {string[]} callback.result.publishing - Array of published topic names.
+ * @param {string[]} callback.result.services - Array of service names hosted.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
+ */
 Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
   var nodesClient = new Service({
     ros : this,
@@ -475,12 +502,12 @@ Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
 };
 
 /**
- * Retrieves list of param names from the ROS Parameter Server.
+ * Retrieve a list of parameter names from the ROS Parameter Server.
  *
- * @param callback function with params:
- *  * params - array of param names.
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {function} callback - Function with the following params:
+ * @param {string[]} callback.params - Array of param names.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getParams = function(callback, failedCallback) {
   var paramsClient = new Service({
@@ -506,13 +533,13 @@ Ros.prototype.getParams = function(callback, failedCallback) {
 };
 
 /**
- * Retrieves a type of ROS topic.
+ * Retrieve the type of a ROS topic.
  *
- * @param topic name of the topic:
- * @param callback - function with params:
- *   * type - String of the topic type
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {string} topic - Name of the topic.
+ * @param {function} callback - Function with the following params:
+ * @param {string} callback.type - The type of the topic.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
   var topicTypeClient = new Service({
@@ -541,13 +568,13 @@ Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
 };
 
 /**
- * Retrieves a type of ROS service.
+ * Retrieve the type of a ROS service.
  *
- * @param service name of service:
- * @param callback - function with params:
- *   * type - String of the service type
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {string} service - Name of the service.
+ * @param {function} callback - Function with the following params:
+ * @param {string} callback.type - The type of the service.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getServiceType = function(service, callback, failedCallback) {
   var serviceTypeClient = new Service({
@@ -576,13 +603,13 @@ Ros.prototype.getServiceType = function(service, callback, failedCallback) {
 };
 
 /**
- * Retrieves a detail of ROS message.
+ * Retrieve the details of a ROS message.
  *
- * @param message - String of a topic type
- * @param callback - function with params:
- *   * details - Array of the message detail
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {string} message - The name of the message type.
+ * @param {function} callback - Function with the following params:
+ * @param {string} callback.details - An array of the message details.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
   var messageDetailClient = new Service({
@@ -611,9 +638,9 @@ Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
 };
 
 /**
- * Decode a typedefs into a dictionary like `rosmsg show foo/bar`
+ * Decode a typedef array into a dictionary like `rosmsg show foo/bar`.
  *
- * @param defs - array of type_def dictionary
+ * @param {Object[]} defs - Array of type_def dictionary.
  */
 Ros.prototype.decodeTypeDefs = function(defs) {
   var that = this;
@@ -662,15 +689,15 @@ Ros.prototype.decodeTypeDefs = function(defs) {
 };
 
 /**
- * Retrieves list of topics and their associated type definitions.
- *
- * @param callback function with params:
- *   * topics - Array of topic names
- *   * types - Array of message type names
- *   * typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat`
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * Retrieve a list of topics and their associated type definitions.
  *
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.result - The result object with the following params:
+ * @param {string[]} callback.result.topics - Array of topic names.
+ * @param {string[]} callback.result.types - Array of message type names.
+ * @param {string[]} callback.result.typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat`.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
   var topicsAndRawTypesClient = new Service({
diff --git a/src/core/Service.js b/src/core/Service.js
index 33729dd0e..a0b2f79e7 100644
--- a/src/core/Service.js
+++ b/src/core/Service.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
@@ -11,10 +11,10 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2;
  * A ROS service client.
  *
  * @constructor
- * @params options - possible keys include:
- *   * ros - the ROSLIB.Ros connection handle
- *   * name - the service name, like /add_two_ints
- *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
+ * @param {Object} options
+ * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+ * @param {string} options.name - The service name, like '/add_two_ints'.
+ * @param {string} options.serviceType - The service type, like 'rospy_tutorials/AddTwoInts'.
  */
 function Service(options) {
   options = options || {};
@@ -27,14 +27,14 @@ function Service(options) {
 }
 Service.prototype.__proto__ = EventEmitter2.prototype;
 /**
- * Calls the service. Returns the service response in the
+ * Call the service. Returns the service response in the
  * callback. Does nothing if this service is currently advertised.
  *
- * @param request - the ROSLIB.ServiceRequest to send
- * @param callback - function with params:
- *   * response - the response from the service request
- * @param failedCallback - the callback function when the service call failed (optional). Params:
- *   * error - the error message reported by ROS
+ * @param {ServiceRequest} request - The ROSLIB.ServiceRequest to send.
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.response - The response from the service request.
+ * @param {function} [failedCallback] - The callback function when the service call failed with params:
+ * @param {string} failedCallback.error - The error message reported by ROS.
  */
 Service.prototype.callService = function(request, callback, failedCallback) {
   if (this.isAdvertised) {
@@ -70,11 +70,11 @@ Service.prototype.callService = function(request, callback, failedCallback) {
  * into a server. The callback will be called with every request
  * that's made on this service.
  *
- * @param callback - This works similarly to the callback for a C++ service and should take the following params:
- *   * request - the service request
- *   * response - an empty dictionary. Take care not to overwrite this. Instead, only modify the values within.
- *   It should return true if the service has finished successfully,
- *   i.e. without any fatal errors.
+ * @param {function} callback - This works similarly to the callback for a C++ service and should take the following params:
+ * @param {ServiceRequest} callback.request - The service request.
+ * @param {Object} callback.response - An empty dictionary. Take care not to overwrite this. Instead, only modify the values within.
+ *     It should return true if the service has finished successfully,
+ *     i.e., without any fatal errors.
  */
 Service.prototype.advertise = function(callback) {
   if (this.isAdvertised || typeof callback !== 'function') {
diff --git a/src/core/ServiceRequest.js b/src/core/ServiceRequest.js
index 601f5314b..32db480ad 100644
--- a/src/core/ServiceRequest.js
+++ b/src/core/ServiceRequest.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
@@ -9,7 +9,7 @@ var assign = require('object-assign');
  * A ServiceRequest is passed into the service call.
  *
  * @constructor
- * @param values - object matching the fields defined in the .srv definition file
+ * @param {Object} values - Object matching the fields defined in the .srv definition file.
  */
 function ServiceRequest(values) {
   assign(this, values);
diff --git a/src/core/ServiceResponse.js b/src/core/ServiceResponse.js
index 4c0450b4a..01d8311c3 100644
--- a/src/core/ServiceResponse.js
+++ b/src/core/ServiceResponse.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
@@ -9,7 +9,7 @@ var assign = require('object-assign');
  * A ServiceResponse is returned from the service call.
  *
  * @constructor
- * @param values - object matching the fields defined in the .srv definition file
+ * @param {Object} values - Object matching the fields defined in the .srv definition file.
  */
 function ServiceResponse(values) {
   assign(this, values);
diff --git a/src/core/SocketAdapter.js b/src/core/SocketAdapter.js
index a5aa3f076..7c7b8af0b 100644
--- a/src/core/SocketAdapter.js
+++ b/src/core/SocketAdapter.js
@@ -17,7 +17,7 @@ if(typeof bson !== 'undefined'){
 }
 
 /**
- * Events listeners for a WebSocket or TCP socket to a JavaScript
+ * Event listeners for a WebSocket or TCP socket to a JavaScript
  * ROS Client. Sets up Messages for a given topic to trigger an
  * event on the ROS client.
  *
@@ -25,7 +25,6 @@ if(typeof bson !== 'undefined'){
  * @private
  */
 function SocketAdapter(client) {
-
   var decoder = null;
   if (client.transportOptions.decoder) {
     decoder = client.transportOptions.decoder;
@@ -70,9 +69,9 @@ function SocketAdapter(client) {
 
   return {
     /**
-     * Emits a 'connection' event on WebSocket connection.
+     * Emit a 'connection' event on WebSocket connection.
      *
-     * @param event - the argument to emit with the event.
+     * @param {function} event - The argument to emit with the event.
      * @memberof SocketAdapter
      */
     onopen: function onOpen(event) {
@@ -81,9 +80,9 @@ function SocketAdapter(client) {
     },
 
     /**
-     * Emits a 'close' event on WebSocket disconnection.
+     * Emit a 'close' event on WebSocket disconnection.
      *
-     * @param event - the argument to emit with the event.
+     * @param {function} event - The argument to emit with the event.
      * @memberof SocketAdapter
      */
     onclose: function onClose(event) {
@@ -92,9 +91,9 @@ function SocketAdapter(client) {
     },
 
     /**
-     * Emits an 'error' event whenever there was an error.
+     * Emit an 'error' event whenever there was an error.
      *
-     * @param event - the argument to emit with the event.
+     * @param {function} event - The argument to emit with the event.
      * @memberof SocketAdapter
      */
     onerror: function onError(event) {
@@ -102,10 +101,10 @@ function SocketAdapter(client) {
     },
 
     /**
-     * Parses message responses from rosbridge and sends to the appropriate
+     * Parse message responses from rosbridge and send to the appropriate
      * topic, service, or param.
      *
-     * @param message - the raw JSON message from rosbridge.
+     * @param {Object} data - The raw JSON message from rosbridge.
      * @memberof SocketAdapter
      */
     onmessage: function onMessage(data) {
diff --git a/src/core/Topic.js b/src/core/Topic.js
index c06103d06..1804de3bd 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
@@ -10,20 +10,20 @@ var Message = require('./Message');
  * Publish and/or subscribe to a topic in ROS.
  *
  * Emits the following events:
- *  * 'warning' - if there are any warning during the Topic creation
- *  * 'message' - the message data from rosbridge
+ *  * 'warning' - If there are any warning during the Topic creation.
+ *  * 'message' - The message data from rosbridge.
  *
  * @constructor
- * @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * name - the topic name, like /cmd_vel
- *   * messageType - the message type, like 'std_msgs/String'
- *   * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw'
- *   * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
- *   * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
- *   * latch - latch the topic when publishing
- *   * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
- *   * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).
+ * @param {Object} options
+ * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+ * @param {string} options.name - The topic name, like '/cmd_vel'.
+ * @param {string} options.messageType - The message type, like 'std_msgs/String'.
+ * @param {string} [options.compression=none] - The type of compression to use, like 'png', 'cbor', or 'cbor-raw'.
+ * @param {number} [options.throttle_rate=0] - The rate (in ms in between messages) at which to throttle the topics.
+ * @param {number} [options.queue_size=100] - The queue created at bridge side for re-publishing webtopics.
+ * @param {boolean} [options.latch=false] - Latch the topic when publishing.
+ * @param {number} [options.queue_length=0] - The queue length at bridge side used when subscribing.
+ * @param {boolean} [options.reconnect_on_close=true] - The flag to enable resubscription and readvertisement on close event.
  */
 function Topic(options) {
   options = options || {};
@@ -85,8 +85,8 @@ Topic.prototype.__proto__ = EventEmitter2.prototype;
  * Every time a message is published for the given topic, the callback
  * will be called with the message object.
  *
- * @param callback - function with the following params:
- *   * message - the published message
+ * @param {function} callback - Function with the following params:
+ * @param {Object} callback.message - The published message.
  */
 Topic.prototype.subscribe = function(callback) {
   if (typeof callback === 'function') {
@@ -109,13 +109,13 @@ Topic.prototype.subscribe = function(callback) {
 };
 
 /**
- * Unregisters as a subscriber for the topic. Unsubscribing stop remove
- * all subscribe callbacks. To remove a call back, you must explicitly
- * pass the callback function in.
+ * Unregister as a subscriber for the topic. Unsubscribing will stop
+ * and remove all subscribe callbacks. To remove a callback, you must
+ * explicitly pass the callback function in.
  *
- * @param callback - the optional callback to unregister, if
- *     * provided and other listeners are registered the topic won't
- *     * unsubscribe, just stop emitting to the passed listener
+ * @param {function} [callback] - The callback to unregister, if
+ *     provided and other listeners are registered the topic won't
+ *     unsubscribe, just stop emitting to the passed listener.
  */
 Topic.prototype.unsubscribe = function(callback) {
   if (callback) {
@@ -140,7 +140,7 @@ Topic.prototype.unsubscribe = function(callback) {
 
 
 /**
- * Registers as a publisher for the topic.
+ * Register as a publisher for the topic.
  */
 Topic.prototype.advertise = function() {
   if (this.isAdvertised) {
@@ -166,7 +166,7 @@ Topic.prototype.advertise = function() {
 };
 
 /**
- * Unregisters as a publisher for the topic.
+ * Unregister as a publisher for the topic.
  */
 Topic.prototype.unadvertise = function() {
   if (!this.isAdvertised) {
@@ -187,7 +187,7 @@ Topic.prototype.unadvertise = function() {
 /**
  * Publish the message.
  *
- * @param message - A ROSLIB.Message object.
+ * @param {Message} message - A ROSLIB.Message object.
  */
 Topic.prototype.publish = function(message) {
   if (!this.isAdvertised) {
diff --git a/src/math/Pose.js b/src/math/Pose.js
index c50d15094..0dd09a5d9 100644
--- a/src/math/Pose.js
+++ b/src/math/Pose.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -9,10 +9,10 @@ var Quaternion = require('./Quaternion');
 /**
  * A Pose in 3D space. Values are copied into this object.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * position - the Vector3 describing the position
- *   * orientation - the ROSLIB.Quaternion describing the orientation
+ * @constructor
+ * @param {Object} options
+ * @param {Vector3} options.position - The ROSLIB.Vector3 describing the position.
+ * @param {Quaternion} options.orientation - The ROSLIB.Quaternion describing the orientation.
  */
 function Pose(options) {
   options = options || {};
@@ -24,7 +24,7 @@ function Pose(options) {
 /**
  * Apply a transform against this pose.
  *
- * @param tf the transform
+ * @param {Transform} tf - The transform to be applied.
  */
 Pose.prototype.applyTransform = function(tf) {
   this.position.multiplyQuaternion(tf.rotation);
@@ -37,16 +37,16 @@ Pose.prototype.applyTransform = function(tf) {
 /**
  * Clone a copy of this pose.
  *
- * @returns the cloned pose
+ * @returns {Pose} The cloned pose.
  */
 Pose.prototype.clone = function() {
   return new Pose(this);
 };
 
 /**
- * Multiplies this pose with another pose without altering this pose.
+ * Multiply this pose with another pose without altering this pose.
  *
- * @returns Result of multiplication.
+ * @returns {Pose} The result of the multiplication.
  */
 Pose.prototype.multiply = function(pose) {
   var p = pose.clone();
@@ -55,9 +55,9 @@ Pose.prototype.multiply = function(pose) {
 };
 
 /**
- * Computes the inverse of this pose.
+ * Compute the inverse of this pose.
  *
- * @returns Inverse of pose.
+ * @returns {Pose} The inverse of the pose.
  */
 Pose.prototype.getInverse = function() {
   var inverse = this.clone();
@@ -69,4 +69,4 @@ Pose.prototype.getInverse = function() {
   return inverse;
 };
 
-module.exports = Pose;
\ No newline at end of file
+module.exports = Pose;
diff --git a/src/math/Quaternion.js b/src/math/Quaternion.js
index 61ea6fe91..5c70a2a8a 100644
--- a/src/math/Quaternion.js
+++ b/src/math/Quaternion.js
@@ -1,17 +1,17 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
 /**
  * A Quaternion.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * x - the x value
- *   * y - the y value
- *   * z - the z value
- *   * w - the w value
+ * @constructor
+ * @param {Object} options
+ * @param {number} [options.x=0] - The x value.
+ * @param {number} [options.y=0] - The y value.
+ * @param {number} [options.z=0] - The z value.
+ * @param {number} [options.w=1] - The w value.
  */
 function Quaternion(options) {
   options = options || {};
@@ -67,7 +67,7 @@ Quaternion.prototype.invert = function() {
 /**
  * Set the values of this quaternion to the product of itself and the given quaternion.
  *
- * @param q the quaternion to multiply with
+ * @param {Quaternion} q - The quaternion to multiply with.
  */
 Quaternion.prototype.multiply = function(q) {
   var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
@@ -83,7 +83,7 @@ Quaternion.prototype.multiply = function(q) {
 /**
  * Clone a copy of this quaternion.
  *
- * @returns the cloned quaternion
+ * @returns {Quaternion} The cloned quaternion.
  */
 Quaternion.prototype.clone = function() {
   return new Quaternion(this);
diff --git a/src/math/Transform.js b/src/math/Transform.js
index c5a2be7d8..8f3581d91 100644
--- a/src/math/Transform.js
+++ b/src/math/Transform.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -9,10 +9,10 @@ var Quaternion = require('./Quaternion');
 /**
  * A Transform in 3-space. Values are copied into this object.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * translation - the Vector3 describing the translation
- *   * rotation - the ROSLIB.Quaternion describing the rotation
+ * @constructor
+ * @param {Object} options
+ * @param {Vector3} options.translation - The ROSLIB.Vector3 describing the translation.
+ * @param {Quaternion} options.rotation - The ROSLIB.Quaternion describing the rotation.
  */
 function Transform(options) {
   options = options || {};
@@ -24,10 +24,10 @@ function Transform(options) {
 /**
  * Clone a copy of this transform.
  *
- * @returns the cloned transform
+ * @returns {Transform} The cloned transform.
  */
 Transform.prototype.clone = function() {
   return new Transform(this);
 };
 
-module.exports = Transform;
\ No newline at end of file
+module.exports = Transform;
diff --git a/src/math/Vector3.js b/src/math/Vector3.js
index c825e567a..398d1c8ea 100644
--- a/src/math/Vector3.js
+++ b/src/math/Vector3.js
@@ -1,16 +1,16 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
 /**
  * A 3D vector.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * x - the x value
- *   * y - the y value
- *   * z - the z value
+ * @constructor
+ * @param {Object} options
+ * @param {number} [options.x=0] - The x value.
+ * @param {number} [options.y=0] - The y value.
+ * @param {number} [options.z=0] - The z value.
  */
 function Vector3(options) {
   options = options || {};
@@ -22,7 +22,7 @@ function Vector3(options) {
 /**
  * Set the values of this vector to the sum of itself and the given vector.
  *
- * @param v the vector to add with
+ * @param {Vector3} v - The vector to add with.
  */
 Vector3.prototype.add = function(v) {
   this.x += v.x;
@@ -33,7 +33,7 @@ Vector3.prototype.add = function(v) {
 /**
  * Set the values of this vector to the difference of itself and the given vector.
  *
- * @param v the vector to subtract with
+ * @param {Vector3} v - The vector to subtract with.
  */
 Vector3.prototype.subtract = function(v) {
   this.x -= v.x;
@@ -44,7 +44,7 @@ Vector3.prototype.subtract = function(v) {
 /**
  * Multiply the given Quaternion with this vector.
  *
- * @param q - the quaternion to multiply with
+ * @param {Quaternion} q - The quaternion to multiply with.
  */
 Vector3.prototype.multiplyQuaternion = function(q) {
   var ix = q.w * this.x + q.y * this.z - q.z * this.y;
@@ -59,10 +59,10 @@ Vector3.prototype.multiplyQuaternion = function(q) {
 /**
  * Clone a copy of this vector.
  *
- * @returns the cloned vector
+ * @returns {Vector3} The cloned vector.
  */
 Vector3.prototype.clone = function() {
   return new Vector3(this);
 };
 
-module.exports = Vector3;
\ No newline at end of file
+module.exports = Vector3;
diff --git a/src/node/RosTCP.js b/src/node/RosTCP.js
index 2f2b50133..de0a1f755 100644
--- a/src/node/RosTCP.js
+++ b/src/node/RosTCP.js
@@ -5,9 +5,9 @@ var socketAdapter = require('../core/SocketAdapter.js');
 var util = require('util');
 
 /**
- * Same as core Ros except supports TCP connections
- * also can receive a socket.io instance (options.socketio) or server instance (option.http)
- * to connect to the front using socket.io
+ * Same as core Ros except supports TCP connections.
+ * This can also receive a socket.io instance (options.socketio) or server instance (option.http)
+ * to connect to the front using socket.io.
  * @private
  */
 function RosTCP(options) {
@@ -33,10 +33,10 @@ function RosTCP(options) {
 util.inherits(RosTCP, Ros);
 
 /**
- * Connects to a live socket
+ * Connect to a live socket.
  *
- * * url (String|Int|Object): Address and port to connect to (see http://nodejs.org/api/net.html)
- *     format {host: String, port: Int} or (port:Int), or "host:port"
+ * @param {string|number|Object} url - Address and port to connect to (see http://nodejs.org/api/net.html).
+ *     Format: {host: String, port: Int} or (port:Int) or "host:port".
  */
 RosTCP.prototype.connect = function(url) {
   if (typeof url === 'string' && (url.slice(0, 5) === 'ws://' || url.slice(0, 6) === 'wss://')) {
diff --git a/src/node/TopicStream.js b/src/node/TopicStream.js
index f492e72e7..0c1808acf 100644
--- a/src/node/TopicStream.js
+++ b/src/node/TopicStream.js
@@ -4,14 +4,12 @@ var DuplexStream = require('stream').Duplex;
 /**
  * Publish a connected ROS topic to a duplex
  * stream. This stream can be piped to, which will
- * publish to the topic
+ * publish to the topic.
  *
- * @options
- *   * subscribe: whether to subscribe to the topic and start emitting
- *              Data
- *   * publish: whether to register the stream as a publisher to the topic
- *   * transform: a function to change the data to be published
- *              or filter it if false is returned
+ * @param {Object} options
+ * @param {boolean} [options.subscribe=true] - The flag to indicate whether to subscribe to the topic and start emitting data or not.
+ * @param {boolean} [options.publish=true] - The flag to indicate whether to register the stream as a publisher to the topic or not.
+ * @param {boolean} [options.transform] - A function to change the data to be published or filter it if false is returned.
  */
 Topic.prototype.toStream = function(options) {
     options = options || {subscribe: true, publish: true};
@@ -23,7 +21,7 @@ Topic.prototype.toStream = function(options) {
         objectMode: true
     });
     stream._read = function() {};
-    
+
     // Publish to the topic if someone pipes to stream
     stream._write = function(chunk, encoding, callback) {
         if (hasTransform) {
@@ -34,7 +32,7 @@ Topic.prototype.toStream = function(options) {
         }
         callback();
     };
-    
+
     if (options.subscribe) {
         this.subscribe(function(message) {
             stream.push(message);
@@ -49,4 +47,4 @@ Topic.prototype.toStream = function(options) {
     return stream;
 };
 
-module.exports = Topic;
\ No newline at end of file
+module.exports = Topic;
diff --git a/src/tf/TFClient.js b/src/tf/TFClient.js
index 9ee9ea732..a6e2848bb 100644
--- a/src/tf/TFClient.js
+++ b/src/tf/TFClient.js
@@ -1,5 +1,5 @@
 /**
- * @fileoverview
+ * @fileOverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -15,24 +15,23 @@ var Transform = require('../math/Transform');
 /**
  * A TF Client that listens to TFs from tf2_web_republisher.
  *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * fixedFrame - the fixed frame, like /base_link
- *   * angularThres - the angular threshold for the TF republisher
- *   * transThres - the translation threshold for the TF republisher
- *   * rate - the rate for the TF republisher
- *   * updateDelay - the time (in ms) to wait after a new subscription
- *                   to update the TF republisher's list of TFs
- *   * topicTimeout - the timeout parameter for the TF republisher
- *   * serverName (optional) - the name of the tf2_web_republisher server
- *   * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only)
- *   																 default: '/republish_tfs'
+ * @constructor
+ * @param {Object} options
+ * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+ * @param {string} [options.fixedFrame=base_link] - The fixed frame.
+ * @param {number} [options.angularThres=2.0] - The angular threshold for the TF republisher.
+ * @param {number} [options.transThres=0.01] - The translation threshold for the TF republisher.
+ * @param {number} [options.rate=10.0] - The rate for the TF republisher.
+ * @param {number} [options.updateDelay=50] - The time (in ms) to wait after a new subscription
+ *     to update the TF republisher's list of TFs.
+ * @param {number} [options.topicTimeout=2.0] - The timeout parameter for the TF republisher.
+ * @param {string} [options.serverName=/tf2_web_republisher] - The name of the tf2_web_republisher server.
+ * @param {string} [options.repubServiceName=/republish_tfs] - The name of the republish_tfs service (non groovy compatibility mode only).
  */
 function TFClient(options) {
   options = options || {};
   this.ros = options.ros;
-  this.fixedFrame = options.fixedFrame || '/base_link';
+  this.fixedFrame = options.fixedFrame || 'base_link';
   this.angularThres = options.angularThres || 2.0;
   this.transThres = options.transThres || 0.01;
   this.rate = options.rate || 10.0;
@@ -54,7 +53,7 @@ function TFClient(options) {
   this._subscribeCB = null;
   this._isDisposed = false;
 
-  // Create an Action client
+  // Create an Action Client
   this.actionClient = new ActionClient({
     ros : options.ros,
     serverName : this.serverName,
@@ -63,7 +62,7 @@ function TFClient(options) {
     omitResult : true
   });
 
-  // Create a Service client
+  // Create a Service Client
   this.serviceClient = new Service({
     ros: options.ros,
     name: this.repubServiceName,
@@ -75,7 +74,7 @@ function TFClient(options) {
  * Process the incoming TF message and send them out using the callback
  * functions.
  *
- * @param tf - the TF message from the server
+ * @param {Object} tf - The TF message from the server.
  */
 TFClient.prototype.processTFArray = function(tf) {
   var that = this;
@@ -140,9 +139,9 @@ TFClient.prototype.updateGoal = function() {
 
 /**
  * Process the service response and subscribe to the tf republisher
- * topic
+ * topic.
  *
- * @param response the service response containing the topic name
+ * @param {Object} response - The service response containing the topic name.
  */
 TFClient.prototype.processResponse = function(response) {
   // Do not setup a topic subscription if already disposed. Prevents a race condition where
@@ -169,9 +168,9 @@ TFClient.prototype.processResponse = function(response) {
 /**
  * Subscribe to the given TF frame.
  *
- * @param frameID - the TF frame to subscribe to
- * @param callback - function with params:
- *   * transform - the transform data
+ * @param {string} frameID - The TF frame to subscribe to.
+ * @param {function} callback - Function with the following params:
+ * @param {Transform} callback.transform - The transform data.
  */
 TFClient.prototype.subscribe = function(frameID, callback) {
   // remove leading slash, if it's there
@@ -179,7 +178,7 @@ TFClient.prototype.subscribe = function(frameID, callback) {
   {
     frameID = frameID.substring(1);
   }
-  // if there is no callback registered for the given frame, create emtpy callback list
+  // if there is no callback registered for the given frame, create empty callback list
   if (!this.frameInfos[frameID]) {
     this.frameInfos[frameID] = {
       cbs: []
@@ -189,7 +188,7 @@ TFClient.prototype.subscribe = function(frameID, callback) {
       this.republisherUpdateRequested = true;
     }
   }
-  // if we already have a transform, call back immediately
+  // if we already have a transform, callback immediately
   else if (this.frameInfos[frameID].transform) {
     callback(this.frameInfos[frameID].transform);
   }
@@ -199,8 +198,8 @@ TFClient.prototype.subscribe = function(frameID, callback) {
 /**
  * Unsubscribe from the given TF frame.
  *
- * @param frameID - the TF frame to unsubscribe from
- * @param callback - the callback function to remove
+ * @param {string} frameID - The TF frame to unsubscribe from.
+ * @param {function} callback - The callback function to remove.
  */
 TFClient.prototype.unsubscribe = function(frameID, callback) {
   // remove leading slash, if it's there
diff --git a/src/urdf/UrdfBox.js b/src/urdf/UrdfBox.js
index 637cd0992..cf9ba5a69 100644
--- a/src/urdf/UrdfBox.js
+++ b/src/urdf/UrdfBox.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -11,8 +11,8 @@ var UrdfTypes = require('./UrdfTypes');
  * A Box element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfBox(options) {
   this.dimension = null;
@@ -27,4 +27,4 @@ function UrdfBox(options) {
   });
 }
 
-module.exports = UrdfBox;
\ No newline at end of file
+module.exports = UrdfBox;
diff --git a/src/urdf/UrdfColor.js b/src/urdf/UrdfColor.js
index 87434d95a..e7b492cd0 100644
--- a/src/urdf/UrdfColor.js
+++ b/src/urdf/UrdfColor.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -8,8 +8,8 @@
  * A Color element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfColor(options) {
   // Parse the xml string
@@ -20,4 +20,4 @@ function UrdfColor(options) {
   this.a = parseFloat(rgba[3]);
 }
 
-module.exports = UrdfColor;
\ No newline at end of file
+module.exports = UrdfColor;
diff --git a/src/urdf/UrdfCylinder.js b/src/urdf/UrdfCylinder.js
index a963aaed5..17fe36038 100644
--- a/src/urdf/UrdfCylinder.js
+++ b/src/urdf/UrdfCylinder.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -10,8 +10,8 @@ var UrdfTypes = require('./UrdfTypes');
  * A Cylinder element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfCylinder(options) {
   this.type = UrdfTypes.URDF_CYLINDER;
@@ -19,4 +19,4 @@ function UrdfCylinder(options) {
   this.radius = parseFloat(options.xml.getAttribute('radius'));
 }
 
-module.exports = UrdfCylinder;
\ No newline at end of file
+module.exports = UrdfCylinder;
diff --git a/src/urdf/UrdfJoint.js b/src/urdf/UrdfJoint.js
index b62d42252..02c95c021 100644
--- a/src/urdf/UrdfJoint.js
+++ b/src/urdf/UrdfJoint.js
@@ -1,6 +1,6 @@
 /**
  * @fileOverview
- * @author David V. Lu!!  davidvlu@gmail.com
+ * @author David V. Lu!! - davidvlu@gmail.com
  */
 
 var Pose = require('../math/Pose');
@@ -11,8 +11,8 @@ var Quaternion = require('../math/Quaternion');
  * A Joint element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfJoint(options) {
   this.name = options.xml.getAttribute('name');
diff --git a/src/urdf/UrdfLink.js b/src/urdf/UrdfLink.js
index 484804bcf..b259857ab 100644
--- a/src/urdf/UrdfLink.js
+++ b/src/urdf/UrdfLink.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -10,8 +10,8 @@ var UrdfVisual = require('./UrdfVisual');
  * A Link element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfLink(options) {
   this.name = options.xml.getAttribute('name');
@@ -25,4 +25,4 @@ function UrdfLink(options) {
   }
 }
 
-module.exports = UrdfLink;
\ No newline at end of file
+module.exports = UrdfLink;
diff --git a/src/urdf/UrdfMaterial.js b/src/urdf/UrdfMaterial.js
index c873b4e16..4c65f9700 100644
--- a/src/urdf/UrdfMaterial.js
+++ b/src/urdf/UrdfMaterial.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -10,8 +10,8 @@ var UrdfColor = require('./UrdfColor');
  * A Material element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfMaterial(options) {
   this.textureFilename = null;
diff --git a/src/urdf/UrdfMesh.js b/src/urdf/UrdfMesh.js
index c6a49a771..719843ed2 100644
--- a/src/urdf/UrdfMesh.js
+++ b/src/urdf/UrdfMesh.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -11,8 +11,8 @@ var UrdfTypes = require('./UrdfTypes');
  * A Mesh element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfMesh(options) {
   this.scale = null;
@@ -33,4 +33,4 @@ function UrdfMesh(options) {
   }
 }
 
-module.exports = UrdfMesh;
\ No newline at end of file
+module.exports = UrdfMesh;
diff --git a/src/urdf/UrdfModel.js b/src/urdf/UrdfModel.js
index 109f3a603..a7e68eba9 100644
--- a/src/urdf/UrdfModel.js
+++ b/src/urdf/UrdfModel.js
@@ -16,9 +16,9 @@ var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
  * A URDF Model can be used to parse a given URDF into the appropriate elements.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
- *  * string - the XML element to parse as a string
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
+ * @param {string} options.string - The XML element to parse as a string.
  */
 function UrdfModel(options) {
   options = options || {};
diff --git a/src/urdf/UrdfSphere.js b/src/urdf/UrdfSphere.js
index 685b746f8..e2d7ea0b7 100644
--- a/src/urdf/UrdfSphere.js
+++ b/src/urdf/UrdfSphere.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -10,12 +10,12 @@ var UrdfTypes = require('./UrdfTypes');
  * A Sphere element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfSphere(options) {
   this.type = UrdfTypes.URDF_SPHERE;
   this.radius = parseFloat(options.xml.getAttribute('radius'));
 }
 
-module.exports = UrdfSphere;
\ No newline at end of file
+module.exports = UrdfSphere;
diff --git a/src/urdf/UrdfVisual.js b/src/urdf/UrdfVisual.js
index 1aaaef4b5..3d052f9a7 100644
--- a/src/urdf/UrdfVisual.js
+++ b/src/urdf/UrdfVisual.js
@@ -1,5 +1,5 @@
 /**
- * @fileOverview 
+ * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -18,8 +18,8 @@ var UrdfSphere = require('./UrdfSphere');
  * A Visual element in a URDF.
  *
  * @constructor
- * @param options - object with following keys:
- *  * xml - the XML element to parse
+ * @param {Object} options
+ * @param {Element} options.xml - The XML element to parse.
  */
 function UrdfVisual(options) {
   var xml = options.xml;
@@ -127,4 +127,4 @@ function UrdfVisual(options) {
   }
 }
 
-module.exports = UrdfVisual;
\ No newline at end of file
+module.exports = UrdfVisual;
diff --git a/src/util/cborTypedArrayTags.js b/src/util/cborTypedArrayTags.js
index 6ff4e084e..2a8476e02 100644
--- a/src/util/cborTypedArrayTags.js
+++ b/src/util/cborTypedArrayTags.js
@@ -11,7 +11,7 @@ function warnPrecision() {
 }
 
 /**
- * Unpacks 64-bit unsigned integer from byte array.
+ * Unpack 64-bit unsigned integer from byte array.
  * @param {Uint8Array} bytes
 */
 function decodeUint64LE(bytes) {
@@ -36,7 +36,7 @@ function decodeUint64LE(bytes) {
 }
 
 /**
- * Unpacks 64-bit signed integer from byte array.
+ * Unpack 64-bit signed integer from byte array.
  * @param {Uint8Array} bytes
 */
 function decodeInt64LE(bytes) {
@@ -62,9 +62,9 @@ function decodeInt64LE(bytes) {
 }
 
 /**
- * Unpacks typed array from byte array.
+ * Unpack typed array from byte array.
  * @param {Uint8Array} bytes
- * @param {type} ArrayType - desired output array type
+ * @param {type} ArrayType - Desired output array type
 */
 function decodeNativeArray(bytes, ArrayType) {
   var byteLen = bytes.byteLength;
@@ -74,9 +74,10 @@ function decodeNativeArray(bytes, ArrayType) {
 }
 
 /**
- * Support a subset of draft CBOR typed array tags:
- *   <https://tools.ietf.org/html/draft-ietf-cbor-array-tags-00>
- * Only support little-endian tags for now.
+ * Supports a subset of draft CBOR typed array tags:
+ *     <https://tools.ietf.org/html/draft-ietf-cbor-array-tags-00>
+ *
+ * Only supports little-endian tags for now.
  */
 var nativeArrayTypes = {
   64: Uint8Array,
@@ -98,7 +99,7 @@ var conversionArrayTypes = {
 };
 
 /**
- * Handles CBOR typed array tags during decoding.
+ * Handle CBOR typed array tags during decoding.
  * @param {Uint8Array} data
  * @param {Number} tag
  */
diff --git a/src/util/decompressPng.js b/src/util/decompressPng.js
index 5437b413b..5b66d56c1 100644
--- a/src/util/decompressPng.js
+++ b/src/util/decompressPng.js
@@ -13,9 +13,9 @@ var pngparse = require('pngparse');
  * the "image" as a Base64 string.
  *
  * @private
- * @param data - object containing the PNG data.
- * @param callback - function with params:
- *   * data - the uncompressed data
+ * @param data - An object containing the PNG data.
+ * @param callback - Function with the following params:
+ * @param callback.data - The uncompressed data.
  */
 function decompressPng(data, callback) {
   var buffer = new Buffer(data, 'base64');
diff --git a/src/util/shim/decompressPng.js b/src/util/shim/decompressPng.js
index f11ea5480..a3ed5e00f 100644
--- a/src/util/shim/decompressPng.js
+++ b/src/util/shim/decompressPng.js
@@ -14,9 +14,9 @@ var Image = Canvas.Image || window.Image;
  * "image" in a canvas element then decodes the * "image" as a Base64 string.
  *
  * @private
- * @param data - object containing the PNG data.
- * @param callback - function with params:
- *   * data - the uncompressed data
+ * @param data - An object containing the PNG data.
+ * @param callback - Function with the following params:
+ * @param callback.data - The uncompressed data.
  */
 function decompressPng(data, callback) {
   // Uncompresses the data before sending it through (use image/canvas to do so).