diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch
index 311bf5574..4cb935861 100644
--- a/ur_bringup/launch/ur10_bringup.launch
+++ b/ur_bringup/launch/ur10_bringup.launch
@@ -9,11 +9,11 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="limited" default="false"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="20.0"/>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
+  <arg name="max_payload"  default="20.0" doc="upper payload bound for the robot" />
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
diff --git a/ur_bringup/launch/ur10_bringup_joint_limited.launch b/ur_bringup/launch/ur10_bringup_joint_limited.launch
index b95ce8c10..eb0b21ddf 100644
--- a/ur_bringup/launch/ur10_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur10_bringup_joint_limited.launch
@@ -9,10 +9,10 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="20.0"/>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
+  <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
+  <arg name="max_payload"  default="20.0" doc="upper payload bound for the robot" />
 
   <include file="$(find ur_bringup)/launch/ur10_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch
index ecb000936..1ff49cb16 100644
--- a/ur_bringup/launch/ur3_bringup.launch
+++ b/ur_bringup/launch/ur3_bringup.launch
@@ -9,11 +9,11 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="limited" default="false"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="3.0"/>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints."/>
+  <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
+  <arg name="max_payload"  default="3.0" doc="upper payload bound for the robot" />
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur3_upload.launch">
diff --git a/ur_bringup/launch/ur3_bringup_joint_limited.launch b/ur_bringup/launch/ur3_bringup_joint_limited.launch
index 6714d34d2..3194e5b9c 100644
--- a/ur_bringup/launch/ur3_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur3_bringup_joint_limited.launch
@@ -9,10 +9,10 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="3.0"/>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
+  <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
+  <arg name="max_payload"  default="3.0" doc="upper payload bound for the robot" />
 
   <include file="$(find ur_bringup)/launch/ur3_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch
index 52f7ebd67..5f9e0f08c 100644
--- a/ur_bringup/launch/ur5_bringup.launch
+++ b/ur_bringup/launch/ur5_bringup.launch
@@ -9,11 +9,11 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="limited" default="false"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="10.0"/>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
+  <arg name="max_payload"  default="10.0" doc="upper payload bound for the robot" />
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
diff --git a/ur_bringup/launch/ur5_bringup_joint_limited.launch b/ur_bringup/launch/ur5_bringup_joint_limited.launch
index dfa7560e8..ac39fcd2b 100644
--- a/ur_bringup/launch/ur5_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur5_bringup_joint_limited.launch
@@ -9,10 +9,10 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="10.0"/>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
+  <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
+  <arg name="max_payload"  default="10.0" doc="upper payload bound for the robot" />
 
   <include file="$(find ur_bringup)/launch/ur5_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/ur_bringup/launch/ur_common.launch b/ur_bringup/launch/ur_common.launch
index cfcd3e242..6035a3a21 100644
--- a/ur_bringup/launch/ur_common.launch
+++ b/ur_bringup/launch/ur_common.launch
@@ -11,11 +11,11 @@
 -->
 <launch>
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="min_payload"/>
-  <arg name="max_payload"/>
-  <arg name="prefix" default=""/>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
+  <arg name="min_payload" doc="lower payload bound for the robot" />
+  <arg name="max_payload" doc="upper payload bound for the robot" />
+  <arg name="prefix" default="" doc="Prefix to robot's joints' and links' names" />
   
   <!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
   <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch
index a96ee70c2..fc2214630 100644
--- a/ur_description/launch/ur10_upload.launch
+++ b/ur_description/launch/ur10_upload.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"/>
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   
   <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
   <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch
index eb047587b..92b5d41bf 100644
--- a/ur_description/launch/ur3_upload.launch
+++ b/ur_description/launch/ur3_upload.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"/>
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   
   <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
   <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch
index 79f3310d4..59789b94c 100644
--- a/ur_description/launch/ur5_upload.launch
+++ b/ur_description/launch/ur5_upload.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"/>
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   
   <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
   <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch
index d03c92727..182bb5c48 100644
--- a/ur_gazebo/launch/ur10.launch
+++ b/ur_gazebo/launch/ur10.launch
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"/>
-  <arg name="paused" default="false"/>
-  <arg name="gui" default="true"/>
+  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
   
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/ur_gazebo/launch/ur10_joint_limited.launch b/ur_gazebo/launch/ur10_joint_limited.launch
index d482944a4..e618e2685 100644
--- a/ur_gazebo/launch/ur10_joint_limited.launch
+++ b/ur_gazebo/launch/ur10_joint_limited.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="gui" default="true"/>
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
 
   <include file="$(find ur_gazebo)/launch/ur10.launch">
     <arg name="limited" value="true"/>
diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch
index 3f50986ac..3b1cae68b 100644
--- a/ur_gazebo/launch/ur3.launch
+++ b/ur_gazebo/launch/ur3.launch
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"/>
-  <arg name="paused" default="false"/>
-  <arg name="gui" default="true"/>
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
   
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/ur_gazebo/launch/ur3_joint_limited.launch b/ur_gazebo/launch/ur3_joint_limited.launch
index 2c111e8b5..ca5fe7560 100644
--- a/ur_gazebo/launch/ur3_joint_limited.launch
+++ b/ur_gazebo/launch/ur3_joint_limited.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="gui" default="true"/>
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
 
   <include file="$(find ur_gazebo)/launch/ur3.launch">
     <arg name="limited" value="true"/>
diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch
index 955213303..347cd93c0 100644
--- a/ur_gazebo/launch/ur5.launch
+++ b/ur_gazebo/launch/ur5.launch
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="limited" default="false"/>
-  <arg name="paused" default="false"/>
-  <arg name="gui" default="true"/>
+  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
   
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/ur_gazebo/launch/ur5_joint_limited.launch b/ur_gazebo/launch/ur5_joint_limited.launch
index 9538638e6..3abf24e95 100644
--- a/ur_gazebo/launch/ur5_joint_limited.launch
+++ b/ur_gazebo/launch/ur5_joint_limited.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="gui" default="true"/>
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
 
   <include file="$(find ur_gazebo)/launch/ur5.launch">
     <arg name="limited" value="true"/>