diff --git a/README.md b/README.md
index 956fe103..41d23f34 100644
--- a/README.md
+++ b/README.md
@@ -31,6 +31,8 @@ The API is a combination of parts:
     - RCUTILS_LOG_ERROR_SKIPFIRST_NAMED()
   - rcutils/logging_macros.h
   - rcutils/logging.h
+- Some basic utilities to load, unload and get symbols from shared libraries at run-time.
+  - rcutils/shared_library.h
 - A string replacement function which takes an allocator, based on http://creativeandcritical.net/str-replace-c:
   - rcutils_repl_str()
   - rcutils/repl_str.h
diff --git a/include/rcutils/allocator.h b/include/rcutils/allocator.h
index 374f4018..e84706cb 100644
--- a/include/rcutils/allocator.h
+++ b/include/rcutils/allocator.h
@@ -109,6 +109,8 @@ rcutils_get_default_allocator(void);
 /// Return true if the given allocator has non-null function pointers.
 /**
  * Will also return false if the allocator pointer is null.
+ *
+ * \param[in] allocator to be checked by the function
  */
 RCUTILS_PUBLIC
 RCUTILS_WARN_UNUSED
@@ -130,6 +132,9 @@ rcutils_allocator_is_valid(const rcutils_allocator_t * allocator);
 /**
  * This function will return `NULL` if the allocator is `NULL` or has `NULL` for
  * function pointer fields.
+ * \param[inout] pointer to the memory which will be reallocated
+ * \param[in] size in bytes
+ * \param[in] allocator to be used to allocate and deallocate memory
  */
 RCUTILS_PUBLIC
 RCUTILS_WARN_UNUSED
diff --git a/include/rcutils/cmdline_parser.h b/include/rcutils/cmdline_parser.h
index 05caed55..1571244b 100644
--- a/include/rcutils/cmdline_parser.h
+++ b/include/rcutils/cmdline_parser.h
@@ -24,10 +24,25 @@ extern "C"
 
 #include "rcutils/visibility_control.h"
 
+/// Return `true` if the option is defined in the command line arguments or `false` otherwise.
+/**
+* \param[in] begin first element to check in the array
+* \param[in] end last element to check in the array
+* \param[in] option string to find in the array of arguments
+* \return if the option exists returns true, otherwise returns false.
+ */
 RCUTILS_PUBLIC
 bool
 rcutils_cli_option_exist(char ** begin, char ** end, const char * option);
 
+/// Return the value for a specific option of the command line arguments.
+/**
+* \param[in] begin first element to check in the array
+* \param[in] end last element to check in the array
+* \param[in] option string to find in the array of arguments
+* \return the value for a specific option of the command line arguments or `NULL` if the option
+* doesn't exist
+ */
 RCUTILS_PUBLIC
 char *
 rcutils_cli_get_option(char ** begin, char ** end, const char * option);
diff --git a/include/rcutils/error_handling.h b/include/rcutils/error_handling.h
index 737bc189..9f19b834 100644
--- a/include/rcutils/error_handling.h
+++ b/include/rcutils/error_handling.h
@@ -130,6 +130,7 @@ static_assert(
  * If already initialized, the given allocator is ignored, even if it does not
  * match the allocator used originally to initialize the thread-local storage.
  *
+ * \param[in] allocator to be used to allocate and deallocate memory
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENT` if the allocator is invalid, or
  * \return `RCUTILS_RET_BAD_ALLOC` if allocating memory fails, or
diff --git a/include/rcutils/filesystem.h b/include/rcutils/filesystem.h
index daeb2bab..8275a207 100644
--- a/include/rcutils/filesystem.h
+++ b/include/rcutils/filesystem.h
@@ -31,9 +31,9 @@ extern "C"
 /**
  * \param[in] buffer Allocated string to store current directory path to
  * \param[in] max_length maximum length to be stored in buffer
- * \return bool True if success
- *              False if buffer is NULL
- *              False on failure
+ * \return `True` if success
+ * \return `False` if buffer is NULL
+ * \return `False` on failure
  */
 RCUTILS_PUBLIC
 RCUTILS_WARN_UNUSED
@@ -43,9 +43,9 @@ rcutils_get_cwd(char * buffer, size_t max_length);
 /// Check if the provided path points to a directory.
 /**
  * \param[in] abs_path Absolute path to check.
- * \return bool True if directory
- *              False if abs_path is NULL
- *              False on failure
+ * \return `True` if directory
+ * \return `False` if abs_path is NULL
+ * \return `False` on failure
  */
 RCUTILS_PUBLIC
 bool
@@ -54,9 +54,9 @@ rcutils_is_directory(const char * abs_path);
 /// Check if the provided path points to a file.
 /**
  * \param[in] abs_path Absolute path to check.
- * \return bool True if file
- *              False if abs_path is NULL
- *              False on failure
+ * \return `True` if file
+ * \return `False` if abs_path is NULL
+ * \return `False` on failure
  */
 RCUTILS_PUBLIC
 bool
@@ -65,9 +65,9 @@ rcutils_is_file(const char * abs_path);
 /// Check if the provided path points to an existing file/folder.
 /**
  * \param[in] abs_path Absolute path to check.
- * \return bool True if the path exists
- *              False if abs_path is NULL
- *              False on failure
+ * \return `True` if the path exists
+ * \return `False` if abs_path is NULL
+ * \return `False` on failure
  */
 RCUTILS_PUBLIC
 bool
@@ -76,9 +76,9 @@ rcutils_exists(const char * abs_path);
 /// Check if the provided path points to a file/folder readable by current user.
 /**
  * \param[in] abs_path Absolute path to check.
- * \return bool True if the file is readable
- *              False if abs_path is NULL
- *              False on failure
+ * \return `True` if the file is readable
+ * \return `False` if abs_path is NULL
+ * \return `False` on failure
  */
 RCUTILS_PUBLIC
 bool
@@ -87,9 +87,9 @@ rcutils_is_readable(const char * abs_path);
 /// Check if the provided path points to a file/folder writable by current user.
 /**
  * \param[in] abs_path Absolute path to check.
- * \return bool True if the file is writable
- *              False if abs_path is NULL
- *              False on failure
+ * \return `True` if the file is writable
+ * \return `False` if abs_path is NULL
+ * \return `False` on failure
  */
 RCUTILS_PUBLIC
 bool
@@ -98,9 +98,9 @@ rcutils_is_writable(const char * abs_path);
 /// Check if the provided path points to a file/folder both readable and writable by current user.
 /**
  * \param[in] abs_path Absolute path to check.
- * \return bool True if the file is redable and writable False otherwise
- *              False if abs_path is NULL
- *              False on failure
+ * \return `True` if the file is redable and writable False otherwise
+ * \return `False` if abs_path is NULL
+ * \return `False` on failure
  */
 RCUTILS_PUBLIC
 bool
@@ -115,9 +115,9 @@ rcutils_is_readable_and_writable(const char * abs_path);
  * \param[in] left_hand_path
  * \param[in] right_hand_path
  * \param[in] allocator
- * \return char * concatenated path on success
- *         NULL on invalid arguments
- *         NULL on failure
+ * \return concatenated path on success
+ * \return `NULL` on invalid arguments
+ * \return `NULL` on failure
  */
 RCUTILS_PUBLIC
 char *
@@ -134,9 +134,9 @@ rcutils_join_path(
  *
  * \param[in] path
  * \param[in] allocator
- * \return char * path using platform specific delimiters on success
- *         NULL on invalid arguments
- *         NULL on failure
+ * \return path using platform specific delimiters on success
+ * \return `NULL` on invalid arguments
+ * \return `NULL` on failure
  */
 RCUTILS_PUBLIC
 char *
@@ -156,12 +156,11 @@ rcutils_to_native_path(
  * openat(2) documentation.
  *
  * \param[in] abs_path
- * \param[in] allocator
- * \return bool True if making the directory was successful, False otherwise
- *              False if path is NULL
- *              False if path is empty
- *              False if path is not absolute
- *              False if any intermediate directories don't exist
+ * \return `True` if making the directory was successful, False otherwise
+ * \return `False` if path is NULL
+ * \return `False` if path is empty
+ * \return `False` if path is not absolute
+ * \return `False` if any intermediate directories don't exist
  */
 RCUTILS_PUBLIC
 bool
diff --git a/include/rcutils/logging.h b/include/rcutils/logging.h
index ade5110b..a0a462b4 100644
--- a/include/rcutils/logging.h
+++ b/include/rcutils/logging.h
@@ -88,7 +88,7 @@ extern bool g_rcutils_logging_initialized;
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param allocator rcutils_allocator_t to be used.
+ * \param[in] allocator rcutils_allocator_t to be used.
  * \return `RCUTILS_RET_OK` if successful.
  * \return `RCUTILS_RET_INVALID_ARGUMENT` if the allocator is invalid, in which
  *   case initialization will fail.
@@ -200,12 +200,12 @@ rcutils_logging_severity_level_from_string(
 
 /// The function signature to log messages.
 /**
- * \param location The pointer to the location struct
- * \param severity The severity level
- * \param name The name of the logger
- * \param timestamp The timestamp
- * \param format The format string
- * \param args The variable argument list
+ * \param[in] location The location information about where the log came from
+ * \param[in] severity The severity of the log message expressed as an integer
+ * \param[in] name The name of the logger that this message came from
+ * \param[in] timestamp The time at which the log message was generated
+ * \param[in] format The list of arguments to insert into the formatted log message
+ * \param[in] args The variable argument list
  */
 typedef void (* rcutils_logging_output_handler_t)(
   const rcutils_log_location_t *,  // location
@@ -246,7 +246,7 @@ rcutils_logging_output_handler_t rcutils_logging_get_output_handler();
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param function The function pointer of the output handler to be used.
+ * \param[in] function The function pointer of the output handler to be used.
  */
 RCUTILS_PUBLIC
 void rcutils_logging_set_output_handler(rcutils_logging_output_handler_t function);
@@ -266,12 +266,12 @@ void rcutils_logging_set_output_handler(rcutils_logging_output_handler_t functio
  *
  * \return `RCUTILS_RET_OK` if successful.
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation error occured
- * \param location The location information about where the log came from
- * \param severity The severity of the log message expressed as an integer
- * \param name The name of the logger that this message came from
- * \param timestamp The time at which the log message was generated
- * \param msg The message being logged
- * \param args The list of arguments to insert into the formatted log messgae
+ * \param[in] location The location information about where the log came from
+ * \param[in] severity The severity of the log message expressed as an integer
+ * \param[in] name The name of the logger that this message came from
+ * \param[in] timestamp The time at which the log message was generated
+ * \param[in] msg The message being logged
+ * \param[in] args The list of arguments to insert into the formatted log message
  * \param[out] logging_output An output buffer for the formatted message
  */
 RCUTILS_PUBLIC
@@ -321,7 +321,7 @@ int rcutils_logging_get_default_logger_level();
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param level The level to be used.
+ * \param[in] level The level to be used.
  */
 RCUTILS_PUBLIC
 void rcutils_logging_set_default_logger_level(int level);
@@ -340,7 +340,7 @@ void rcutils_logging_set_default_logger_level(int level);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param name The name of the logger, must be null terminated c string
+ * \param[in] name The name of the logger, must be null terminated c string
  * \return The level of the logger if it has been set, or
  * \return `RCUTILS_LOG_SEVERITY_UNSET` if unset, or
  * \return `g_rcutils_logging_default_logger_level` for an empty name, or
@@ -364,8 +364,8 @@ int rcutils_logging_get_logger_level(const char * name);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param name The name of the logger
- * \param name_length Logger name length
+ * \param[in] name The name of the logger
+ * \param[in] name_length Logger name length
  * \return The level of the logger if it has been set, or
  * \return `RCUTILS_LOG_SEVERITY_UNSET` if unset, or
  * \return `g_rcutils_logging_default_logger_level` for `name_length` of `0`, or
@@ -389,8 +389,8 @@ int rcutils_logging_get_logger_leveln(const char * name, size_t name_length);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param name The name of the logger, must be null terminated c string.
- * \param level The level to be used.
+ * \param[in] name The name of the logger, must be null terminated c string.
+ * \param[in] level The level to be used.
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENT` on invalid arguments, or
  * \return `RCUTILS_RET_LOGGING_SEVERITY_MAP_INVALID` if severity map invalid, or
@@ -410,8 +410,8 @@ rcutils_ret_t rcutils_logging_set_logger_level(const char * name, int level);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param name The name of the logger, must be null terminated c string or NULL.
- * \param severity The severity level.
+ * \param[in] name The name of the logger, must be null terminated c string or NULL.
+ * \param[in] severity The severity level.
  *
  * \return true if the logger is enabled for the level; false otherwise.
  */
@@ -438,7 +438,7 @@ bool rcutils_logging_logger_is_enabled_for(const char * name, int severity);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param name The name of the logger, must be null terminated c string.
+ * \param[in] name The name of the logger, must be null terminated c string.
  *
  * \return The level, or
  * \return -1 on invalid arguments, or
@@ -462,11 +462,11 @@ int rcutils_logging_get_logger_effective_level(const char * name);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param location The pointer to the location struct or NULL
- * \param severity The severity level
- * \param name The name of the logger, must be null terminated c string or NULL
- * \param format The format string
- * \param ... The variable arguments
+ * \param[in] location The pointer to the location struct or NULL
+ * \param[in] severity The severity level
+ * \param[in] name The name of the logger, must be null terminated c string or NULL
+ * \param[in] format The format string
+ * \param[in] ... The variable arguments
  */
 RCUTILS_PUBLIC
 void rcutils_log(
@@ -496,11 +496,11 @@ RCUTILS_ATTRIBUTE_PRINTF_FORMAT(4, 5);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
- * \param location The pointer to the location struct or NULL
- * \param severity The severity level
- * \param name The name of the logger, must be null terminated c string
- * \param timestamp The timestamp for when the log message was made
- * \param log_str The string to be logged
+ * \param[in] location The pointer to the location struct or NULL
+ * \param[in] severity The severity level
+ * \param[in] name The name of the logger, must be null terminated c string
+ * \param[in] timestamp The timestamp for when the log message was made
+ * \param[in] log_str The string to be logged
  */
 RCUTILS_PUBLIC
 void rcutils_logging_console_output_handler(
diff --git a/include/rcutils/macros.h b/include/rcutils/macros.h
index e254df46..a3e601b7 100644
--- a/include/rcutils/macros.h
+++ b/include/rcutils/macros.h
@@ -85,8 +85,8 @@ extern "C"
  *
  * IMPORTANT: the first argument has an index of ONE (not zero!).
  *
- * \param format_string_index index of the format string passed to the function
- * \param first_to_check_index index of the first "optional argument"
+ * \param[in] format_string_index index of the format string passed to the function
+ * \param[in] first_to_check_index index of the first "optional argument"
  */
 #define RCUTILS_ATTRIBUTE_PRINTF_FORMAT(format_string_index, first_to_check_index) \
   __attribute__ ((format(printf, format_string_index, first_to_check_index)))
diff --git a/include/rcutils/types/array_list.h b/include/rcutils/types/array_list.h
index 2b26adae..a0d1cc86 100644
--- a/include/rcutils/types/array_list.h
+++ b/include/rcutils/types/array_list.h
@@ -36,7 +36,7 @@ typedef struct RCUTILS_PUBLIC_TYPE rcutils_array_list_t
 
 /**
  * Validates that an rcutils_array_list_t* points to a valid array list.
- * \param array_list A pointer to an rcutils_array_list_t
+ * \param[in] array_list A pointer to an rcutils_array_list_t
  * \return RCUTILS_RET_INVALID_ARGUMENT if array_list is null
  * \return RCUTILS_RET_NOT_INITIALIZED if array_list is not initialized
  */
diff --git a/include/rcutils/types/char_array.h b/include/rcutils/types/char_array.h
index 121924a5..4d221661 100644
--- a/include/rcutils/types/char_array.h
+++ b/include/rcutils/types/char_array.h
@@ -58,9 +58,9 @@ rcutils_get_zero_initialized_char_array(void);
  * If the capacity is set to 0, no memory is allocated and the internal buffer
  * is still NULL.
  *
- * \param char_array a pointer to the to be initialized char array struct
- * \param buffer_capacity the size of the memory to allocate for the byte stream
- * \param allocator the allocator to use for the memory allocation
+ * \param[in] char_array a pointer to the to be initialized char array struct
+ * \param[in] buffer_capacity the size of the memory to allocate for the byte stream
+ * \param[in] allocator the allocator to use for the memory allocation
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENTS` if any arguments are invalid, or
  * \return 'RCUTILS_RET_BAD_ALLOC` if no memory could be allocated correctly
@@ -84,7 +84,7 @@ rcutils_char_array_init(
  * Passing an uninitialized instance to this function leads to undefined
  * behavior.
  *
- * \param char_array pointer to the rcutils_char_array_t to be cleaned up
+ * \param[in] char_array pointer to the rcutils_char_array_t to be cleaned up
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENTS` if the char_array argument is invalid
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
@@ -107,8 +107,8 @@ rcutils_char_array_fini(rcutils_char_array_t * char_array);
  * allocates a new block of memory and copies the contents of the old buffer
  * instead of resizing the existing buffer.
  *
- * \param char_array pointer to the instance of rcutils_char_array_t which is being resized
- * \param new_size the new size of the internal buffer
+ * \param[in] char_array pointer to the instance of rcutils_char_array_t which is being resized
+ * \param[in] new_size the new size of the internal buffer
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENT` if new_size is set to zero
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
@@ -126,8 +126,8 @@ rcutils_char_array_resize(rcutils_char_array_t * char_array, size_t new_size);
  * If the buffer is already big enough for `new_size`, it returns `RCUTILS_RET_OK` without
  * doing anything.
  *
- * \param char_array pointer to the instance of rcutils_char_array_t which is being resized
- * \param new_size the new size of the internal buffer
+ * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being resized
+ * \param[in] new_size the new size of the internal buffer
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
@@ -145,9 +145,10 @@ rcutils_char_array_expand_as_needed(rcutils_char_array_t * char_array, size_t ne
  * The `va_list args` will be cloned before being used, so a user can safely
  * use it again after calling this function.
  *
- * \param char_array pointer to the instance of rcutils_char_array_t which is being written to
- * \param format the format string used by the underlying `vsnprintf`
- * \param args the `va_list` used by the underlying `vsnprintf`
+ * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being
+ * written to
+ * \param[in] format the format string used by the underlying `vsnprintf`
+ * \param[in] args the `va_list` used by the underlying `vsnprintf`
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
@@ -164,9 +165,9 @@ rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char * form
  * It is virtually equivalent to `strncat(char_array->buffer, src, n)` except that the buffer
  * grows as needed so a user doesn't have to deal with memory management.
  *
- * \param char_array pointer to the instance of rcutils_char_array_t which is being appended to
- * \param src the string to be appended to the end of the string in buffer
- * \param n it uses at most n bytes from the src string
+ * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being appended to
+ * \param[in] src the string to be appended to the end of the string in buffer
+ * \param[in] n it uses at most n bytes from the src string
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
@@ -183,8 +184,9 @@ rcutils_char_array_strncat(rcutils_char_array_t * char_array, const char * src,
  * grows as needed. That is to say, a user can safely use it without doing calculation or
  * checks on the sizes of the src and buffer.
  *
- * \param char_array pointer to the instance of rcutils_char_array_t which is being appended to
- * \param src the string to be appended to the end of the string in buffer
+ * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being
+ * appended to
+ * \param[in] src the string to be appended to the end of the string in buffer
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
@@ -199,9 +201,9 @@ rcutils_char_array_strcat(rcutils_char_array_t * char_array, const char * src);
  * This function is equivalent to `memcpy(char_array->buffer, src, n)` except that the buffer
  * grows as needed so a user doesn't have to worry about overflow.
  *
- * \param char_array pointer to the instance of rcutils_char_array_t which is being resized
- * \param src the memory to be copied from
- * \param n a total of n bytes will be copied
+ * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being resized
+ * \param[in] src the memory to be copied from
+ * \param[in] n a total of n bytes will be copied
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
@@ -216,8 +218,9 @@ rcutils_char_array_memcpy(rcutils_char_array_t * char_array, const char * src, s
  * This function is equivalent to `strcpy(char_array->buffer, src)` except that the buffer
  * grows as needed so that `src` will fit without overflow.
  *
- * \param char_array pointer to the instance of rcutils_char_array_t which is being copied to
- * \param src the string to be copied from
+ * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being
+ * copied to
+ * \param[in] src the string to be copied from
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
diff --git a/include/rcutils/types/hash_map.h b/include/rcutils/types/hash_map.h
index 7502dce8..d96ace35 100644
--- a/include/rcutils/types/hash_map.h
+++ b/include/rcutils/types/hash_map.h
@@ -36,7 +36,7 @@ typedef struct RCUTILS_PUBLIC_TYPE rcutils_hash_map_t
 
 /// The function signature for a key hashing function.
 /**
- * \param key The key that needs to be hashed
+ * \param[in] key The key that needs to be hashed
  * \return A hash value for the provided string
  */
 typedef size_t (* rcutils_hash_map_key_hasher_t)(
@@ -45,8 +45,8 @@ typedef size_t (* rcutils_hash_map_key_hasher_t)(
 
 /// The function signature for a key comparison function.
 /**
- * \param val1 The first value to compare
- * \param val2 The second value to compare
+ * \param[in] val1 The first value to compare
+ * \param[in] val2 The second value to compare
  * \return A negative number if val1 < val2, or
  * \return A positve number if val1 > val2, or
  * \return Zero if val1 == val2
@@ -58,7 +58,7 @@ typedef int (* rcutils_hash_map_key_cmp_t)(
 
 /**
  * Validates that an rcutils_hash_map_t* points to a valid hash map.
- * \param map A pointer to an rcutils_hash_map_t
+ * \param[in] map A pointer to an rcutils_hash_map_t
  * \return RCUTILS_RET_INVALID_ARGUMENT if map is null
  * \return RCUTILS_RET_NOT_INITIALIZED if map is not initialized
  */
diff --git a/include/rcutils/types/uint8_array.h b/include/rcutils/types/uint8_array.h
index cf767aac..512a3c9c 100644
--- a/include/rcutils/types/uint8_array.h
+++ b/include/rcutils/types/uint8_array.h
@@ -49,9 +49,9 @@ rcutils_get_zero_initialized_uint8_array(void);
  * If the capacity is set to 0, no memory is allocated and the internal buffer
  * is still NULL.
  *
- * \param uint8_array a pointer to the to be initialized uint8 array struct
- * \param buffer_capacity the size of the memory to allocate for the byte stream
- * \param allocator the allocator to use for the memory allocation
+ * \param[inout] uint8_array a pointer to the to be initialized uint8 array struct
+ * \param[in] buffer_capacity the size of the memory to allocate for the byte stream
+ * \param[in] allocator the allocator to use for the memory allocation
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENTS` if any arguments are invalid, or
  * \return 'RCUTILS_RET_BAD_ALLOC` if no memory could be allocated correctly
@@ -73,7 +73,7 @@ rcutils_uint8_array_init(
  * Passing an uninitialized instance to this function leads to undefined
  * behavior.
  *
- * \param uint8_array pointer to the rcutils_uint8_array_t to be cleaned up
+ * \param[in] uint8_array pointer to the rcutils_uint8_array_t to be cleaned up
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENTS` if the uint8_array argument is invalid
  * \return `RCUTILS_RET_ERROR` if an unexpected error occurs
@@ -91,8 +91,9 @@ rcutils_uint8_array_fini(rcutils_uint8_array_t * uint8_array);
  * Be aware, that this might deallocate the memory and therefore invalidates any
  * pointers to this storage.
  *
- * \param uint8_array pointer to the instance of rcutils_uint8_array_t which is being resized
- * \param new_size the new size of the internal buffer
+ * \param[inout] uint8_array pointer to the instance of rcutils_uint8_array_t which is
+ * being resized
+ * \param[in] new_size the new size of the internal buffer
  * \return `RCUTILS_RET_OK` if successful, or
  * \return `RCUTILS_RET_INVALID_ARGUMENT` if new_size is set to zero
  * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation failed, or
diff --git a/resource/logging_macros.h.em b/resource/logging_macros.h.em
index 375d741d..f22d65c5 100644
--- a/resource/logging_macros.h.em
+++ b/resource/logging_macros.h.em
@@ -57,11 +57,11 @@ extern "C"
  *
  * \note The condition will only be evaluated if this logging statement is enabled.
  *
- * \param severity The severity level
- * \param condition_before The condition macro(s) inserted before the log call
- * \param condition_after The condition macro(s) inserted after the log call
- * \param name The name of the logger
- * \param ... The format string, followed by the variable arguments for the format string
+ * \param[in] severity The severity level
+ * \param[in] condition_before The condition macro(s) inserted before the log call
+ * \param[in] condition_after The condition macro(s) inserted after the log call
+ * \param[in] name The name of the logger
+ * \param[in] ... The format string, followed by the variable arguments for the format string
  */
 #define RCUTILS_LOG_COND_NAMED(severity, condition_before, condition_after, name, ...) \
   do { \
@@ -237,9 +237,9 @@ from rcutils.logging import severities
 .
 @[ end if]@
 @[ for param_name, doc_line in feature_combinations[feature_combination].params.items()]@
- * \param @(param_name) @(doc_line)
+ * \param[in] @(param_name) @(doc_line)
 @[ end for]@
- * \param ... The format string, followed by the variable arguments for the format string
+ * \param[in] ... The format string, followed by the variable arguments for the format string
  */
 # define RCUTILS_LOG_@(severity)@(suffix)(@(''.join([p + ', ' for p in get_macro_parameters(feature_combination).keys()]))...) \
   RCUTILS_LOG_COND_NAMED( \
diff --git a/test/test_get_env.cpp b/test/test_get_env.cpp
index ca51a4ab..998e4ede 100644
--- a/test/test_get_env.cpp
+++ b/test/test_get_env.cpp
@@ -18,7 +18,7 @@
 
 #include "rcutils/get_env.h"
 
-/* Tests the default allocator.
+/* Tests rcutils_get_env.
  *
  * Expected environment variables must be set by the calling code:
  *