diff --git a/mainpage.dox b/mainpage.dox
index 0bcb21096406a77df8da6efb624323994f5d5bba..ca3688be0978aed084ab324dbb3fd68a5e9a3248 100644
--- a/mainpage.dox
+++ b/mainpage.dox
@@ -2,12 +2,8 @@
 \mainpage
 \htmlinclude manifest.html
 
-\b dynamic_graph is ... 
-
-<!-- 
-Provide an overview of your package.
--->
-
+\b dynamic_graph_bridge provides communication tools for
+ROS/dynamic-graph interoperation.
 
 \section codeapi Code API
 
diff --git a/manifest.xml b/manifest.xml
index 96244e720f8ffdd17048eaeb63ee864ff064e908..793c6a985bb59d222ab8522c99399a05b406883d 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -14,6 +14,7 @@
        cflags="-I${prefix}/include"
        lflags="-L${prefix}/lib -lros_bridge -lros_interpreter -Wl,-rpath,${prefix}/lib"
        />
+    <rosdoc config="rosdoc.yaml" />
   </export>
 
 
diff --git a/rosdoc.yaml b/rosdoc.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d27dced12ea02f73fa198d6909dd54e2a9f67a88
--- /dev/null
+++ b/rosdoc.yaml
@@ -0,0 +1,4 @@
+- builder: doxygen
+  name: C++ API
+  output_dir: c++
+  file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'