Added features to rclcpp packages

rclcpp/README.md

@@ -1,6 +1,8 @@
 # `rclcpp`
 
-The ROS client library in C++. Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components.
+The ROS client library in C++.
+
+Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components and features.
 
 ## Quality Declaration
 

rclcpp_action/README.md

@@ -1,6 +1,8 @@
 # `rclcpp_action`
 
-Adds action APIs for C++. Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp_action/) for a complete list of its main components or the [design document](http://design.ros2.org/articles/actions.html).
+Adds action APIs for C++.
+
+Visit the [rclcpp_action API documentation](http://docs.ros2.org/latest/api/rclcpp_action/) for a complete list of its main components and features. For more information about Actions in ROS 2, see the [design document](http://design.ros2.org/articles/actions.html).
 
 ## Quality Declaration
 

rclcpp_components/README.md

@@ -2,6 +2,8 @@
 
 Package containing tools for dynamically loadable components.
 
+Visit the [rclcpp_components API documentation](http://docs.ros2.org/latest/api/rclcpp_components/) for a complete list of its main components and features.
+
 ## Quality Declaration
 
 This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

rclcpp_components/include/rclcpp_components/component_manager.hpp

@@ -12,6 +12,32 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/** \mainpage rclcpp_components: Package containing tools for dynamically loadable components.
+ *
+ * - ComponentManager: Node to manage components. It has the services to load, unload and list
+ *   current components.
+ *   - rclcpp_components/component_manager.hpp)
+ * - Node factory: The NodeFactory interface is used by the class loader to instantiate components.
+ *   - rclcpp_components/node_factory.hpp)
+ *   - It allows for classes not derived from `rclcpp::Node` to be used as components.
+ *   - It allows derived constructors to be called when components are loaded.
+ *
+ * Some useful abstractions and utilities:
+ * - [RCLCPP_COMPONENTS_REGISTER_NODE: Register a component that can be dynamically loaded
+ *   at runtime.
+ *   - (include/rclcpp_components/register_node_macro.hpp)
+ *
+ * Some useful internal abstractions and utilities:
+ * - Macros for controlling symbol visibility on the library
+ *   - rclcpp_components/visibility_control.h
+ *
+ * Package containing CMake tools for register components:
+ * - `rclcpp_components_register_node` Register an rclcpp component with the ament resource index
+ *    and create an executable.
+ * - `rclcpp_components_register_nodes` Register an rclcpp component with the ament resource index.
+ *    The passed library can contain multiple nodes each registered via macro.
+ */
+
 #ifndef RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__
 #define RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__
 

rclcpp_lifecycle/README.md

@@ -1,6 +1,8 @@
 # `rclcpp_lifecycle`
 
-Package containing a prototype for lifecycle implementation. Visit the [design document](https://design.ros2.org/articles/node_lifecycle.html) for more information about this package.
+Package containing a prototype for lifecycle implementation.
+
+Visit the [rclcpp_lifecycle API documentation](http://docs.ros2.org/latest/api/rclcpp_lifecycle/) for a complete list of its main components and features. For more information about LifeCycle in ROS 2, see the [design document](http://design.ros2.org/articles/node_lifecycle.html).
 
 ## Quality Declaration