diff --git a/core/roslib/src/roslib/message.py b/core/roslib/src/roslib/message.py
index a0046511..11e115b4 100644
--- a/core/roslib/src/roslib/message.py
+++ b/core/roslib/src/roslib/message.py
@@ -193,8 +193,9 @@ def check_type(field_name, field_type, field_val):
     #        raise SerializationError('field [%s] must be a [%s] instance instead of a %s'%(field_name, field_type, type(field_val)))
         #TODO: dynamically load message class and do instance compare
 
-##Base class of auto-generated message data objects. 
 class Message(object):
+    """Base class of Message data classes auto-generated from msg files. """
+
     # slots is explicitly both for data representation and
     # performance. Higher-level code assumes that there is a 1-to-1
     # mapping between __slots__ and message fields. In terms of
@@ -202,11 +203,14 @@ class Message(object):
     # new-style object.
     __slots__ = ['_connection_header']
     
-    ## Message base constructor. Contains generic initializers for
-    ## args-based and kwds-based initialization of message fields,
-    ## assuming there is a one-to-one mapping between __slots__ and
-    ## message fields.
     def __init__(self, *args, **kwds):
+        """
+        ctor. There are multiple ways of initializing Message
+        instances, either using a 1-to-1 correspondence between
+        constructor arguments and message fields (*args), or using
+        Python "keyword" arguments (**kwds) to initialize named field
+        and leave the rest with default values.
+        """
         if args and kwds:
             raise TypeError("Message constructor may only use args OR keywords, not both")
         if args:
@@ -245,8 +249,18 @@ class Message(object):
             raise SerializationError(str(exc))
 
     def serialize(self, buff):
+        """
+        Serialize data into buffer
+        @param buff: buffer
+        @type buff: StringIO
+        """
         pass
     def deserialize(self, str):
+        """
+        Deserialize data in str into this instance
+        @param str: serialized data
+        @type str: str
+        """
         pass
     def __str__(self):
         return strify_message(self)
@@ -268,12 +282,16 @@ class Message(object):
                 return False
         return True
     
-class ServiceDefinition(object): pass #marker class for auto-generated code
+class ServiceDefinition(object):
+    """Base class of Service classes auto-generated from srv files"""
+    pass
 
-## Message deserialization error
-class DeserializationError(ROSMessageException): pass
-## Message serialization error
-class SerializationError(ROSMessageException): pass
+class DeserializationError(ROSMessageException):
+    """Message deserialization error"""
+    pass
+class SerializationError(ROSMessageException):
+    """Message serialization error"""
+    pass
 
 # Utilities for rostopic/rosservice
 
diff --git a/core/roslib/src/roslib/msgs.py b/core/roslib/src/roslib/msgs.py
index 11983b94..59129e60 100644
--- a/core/roslib/src/roslib/msgs.py
+++ b/core/roslib/src/roslib/msgs.py
@@ -33,10 +33,10 @@
 # Revision $Id: msgspec.py 3357 2009-01-13 07:13:05Z jfaustwg $
 # $Author: jfaustwg $
 """
-ROS Msg Description Language Spec
+ROS msg library for Python
+
+Implements: U{http://ros.org/wiki/msg}
 """
-## ROS Msg Description Language Spec
-## Implements: http://pr.willowgarage.com/wiki/ROS/Message_Description_Language
 
 import cStringIO
 import os
diff --git a/core/roslib/src/roslib/srvs.py b/core/roslib/src/roslib/srvs.py
index 32e2383b..cb025283 100644
--- a/core/roslib/src/roslib/srvs.py
+++ b/core/roslib/src/roslib/srvs.py
@@ -32,9 +32,10 @@
 #
 # Revision $Id: srvspec.py 3357 2009-01-13 07:13:05Z jfaustwg $
 # $Author: jfaustwg $
-"""ROS Service Description Language Spec"""
-## ROS Service Description Language Spec
-#  Implements http://pr.willowgarage.com/wiki/ROS/Message_Description_Language
+"""
+ROS Service Description Language Spec
+Implements U{http://ros.org/wiki/srv}
+"""
 
 import os
 import re
diff --git a/core/rospy/manifest.xml b/core/rospy/manifest.xml
index 8a73bed5..4dcd357b 100644
--- a/core/rospy/manifest.xml
+++ b/core/rospy/manifest.xml
@@ -31,7 +31,7 @@
   <depend package="roslang"/>
   <export>
     <roslang cmake="${prefix}/cmake/rospy.cmake"/>
-    <rosdoc builder="eepydoc"/>    
+    <rosdoc builder="epydoc"/>    
   </export>
 </package>
 
diff --git a/core/rospy/src/rospy/client.py b/core/rospy/src/rospy/client.py
index bb54e007..7f1df8a8 100644
--- a/core/rospy/src/rospy/client.py
+++ b/core/rospy/src/rospy/client.py
@@ -71,7 +71,7 @@ def on_shutdown(h):
     Register function to be called on shutdown. This function will be
     called before Node begins teardown.
     @param h: Function with zero args to be called on shutdown.
-    @type h: fn()
+    @type  h: fn()
     """
 
     # wrap function to strip reason argument that gets passed in for internal use
@@ -127,11 +127,11 @@ def init_node(name, argv=sys.argv, anonymous=False, log_level=INFO, disable_rost
     this method are not reversible.
 
     @param name: Node's name
-    @type name: string
+    @type  name: string
     
     @param argv: Command line arguments to this program. ROS reads
     these arguments to find renaming params. Defaults to sys.argv.
-    @type argv: [str]
+    @type  argv: [str]
 
     @param anonymous: if True, a name will be auto-generated for
     the node using name as the base.  This is useful when you wish
@@ -139,23 +139,23 @@ def init_node(name, argv=sys.argv, anonymous=False, log_level=INFO, disable_rost
     their actual names (e.g. tools, guis). name will be used as the
     stem of the auto-generated name. NOTE: you cannot remap the name
     of an anonymous node.
-    @type anonymous: bool
+    @type  anonymous: bool
 
     @param log_level: log level for sending message to /rosout,
     which is INFO by default. For convenience, you may use
     rospy.DEBUG, rospy.INFO, rospy.ERROR, rospy.WARN, rospy.FATAL,
-    @type log_level: int
+    @type  log_level: int
     
     @param disable_signals: If True, rospy will not register its
     own signal handlers. You must set this flag if (a) you are unable
     to call init_node from the main thread and/or you are using rospy
     in an environment where you need to control your own signal
     handling (e.g. WX).
-    @type disable_signals: bool
+    @type  disable_signals: bool
     
     @param disable_rostime: for rostests only, suppresses
     automatic subscription to rostime
-    @type disable_rostime: bool
+    @type  disable_rostime: bool
 
     @raise ROSInitException: if initialization/registration fails
     """
@@ -278,9 +278,9 @@ def wait_for_service(service, timeout=None):
     initialization code if your program depends on a
     service already running.
     @param service: name of service
-    @type service: str
+    @type  service: str
     @param timeout: timeout time in seconds
-    @type timeout: double
+    @type  timeout: double
     @raise ROSException: if specified timeout is exceeded
     """
     def contact_service(service, timeout=10.0):
@@ -351,7 +351,7 @@ def get_param(param_name, default=_unspecified):
     """
     Retrieve a parameter from the param server
     @param default: (optional) default value to return if key is not set
-    @type default: any
+    @type  default: any
     @return: parameter value
     @rtype: XmlRpcLegalValue
     @raise ROSException: if parameter server reports an error
@@ -384,9 +384,9 @@ def set_param(param_name, param_value):
     """
     Set a parameter on the param server
     @param param_name: parameter name
-    @type param_name: str
+    @type  param_name: str
     @param param_value: parameter value
-    @type param_value: XmlRpcLegalValue
+    @type  param_value: XmlRpcLegalValue
     @raise ROSException: if parameter server reports an error
     """
     _init_param_server()
@@ -396,7 +396,7 @@ def search_param(param_name):
     """
     Search for a parameter on the param server
     @param param_name: parameter name
-    @type param_name: str
+    @type  param_name: str
     @raise ROSException: if parameter server reports an error
     """
     _init_param_server()
@@ -406,7 +406,7 @@ def delete_param(param_name):
     """
     Delete a parameter on the param server
     @param param_name: parameter name
-    @type param_name: str
+    @type  param_name: str
     @raise ROSException: if parameter server reports an error
     """    
     _init_param_server()
@@ -416,7 +416,7 @@ def has_param(param_name):
     """
     Test if parameter exists on the param server
     @param param_name: parameter name
-    @type param_name: str
+    @type  param_name: str
     @raise ROSException: if parameter server reports an error
     """
     _init_param_server()
@@ -437,7 +437,7 @@ class Rate(object):
         """
         Constructor.
         @param hz: hz rate to determine sleeping
-        @type hz: int
+        @type  hz: int
         """
         # #1403
         self.last_time = rospy.rostime.get_rostime()
@@ -474,7 +474,7 @@ def sleep(duration):
     is negative, sleep immediately returns.
     
     @param duration: seconds (or rospy.Duration) to sleep
-    @type duration: float or Duration
+    @type  duration: float or Duration
     @raise ROSInterruptException: if ROS time is set backwards or if
     ROS shutdown occurs before sleep completes
     """
diff --git a/core/rospy/src/rospy/core.py b/core/rospy/src/rospy/core.py
index 30f9d2d7..9d58b20c 100644
--- a/core/rospy/src/rospy/core.py
+++ b/core/rospy/src/rospy/core.py
@@ -64,7 +64,7 @@ def mloginfo(msg, *args):
     Info-level master log statements. These statements may be printed
     to screen so they should be user-readable.
     @param msg: Message string
-    @type msg: str
+    @type  msg: str
     @param args: arguments for msg if msg is a format string
     """
     #mloginfo is in core so that it is accessible to master and masterdata
@@ -79,7 +79,7 @@ def mlogwarn(msg, *args):
     Warn-level master log statements. These statements may be printed
     to screen so they should be user-readable.
     @param msg: Message string
-    @type msg: str    
+    @type  msg: str    
     @param args: arguments for msg if msg is a format string
     """
     #mloginfo is in core so that it is accessible to master and masterdata
@@ -98,7 +98,7 @@ def parse_rosrpc_uri(uri):
     """
     utility function for parsing ROS-RPC URIs
     @param uri: ROSRPC URI
-    @type uri: str
+    @type  uri: str
     @return: address, port
     @rtype: (str, int)
     @raise ParameterInvalid: if uri is not a valid ROSRPC URI
@@ -136,9 +136,9 @@ def add_log_handler(level, h):
     """
     Add handler for specified level
     @param level: log level (use constants from roslib.msg.Log)
-    @type level: int
+    @type  level: int
     @param h: log message handler
-    @type h: fn
+    @type  h: fn
     @raise ROSInternalException: if level is invalid
     """
     if level == roslib.msg.Log.DEBUG:
@@ -251,7 +251,7 @@ def configure_logging(node_name):
     """
     Setup filesystem logging for this node
     @param node_name: Node's name
-    @type node_name str
+    @type  node_name str
     """
     global _log_filename
 
@@ -295,7 +295,7 @@ def set_initialized(initialized):
     """
     set the initialization state of the local node
     @param initialized: True if node initialized
-    @type initialized: bool
+    @type  initialized: bool
     """
     global _client_ready
     _client_ready = initialized
@@ -338,7 +338,7 @@ def add_preshutdown_hook(h):
     Add method to invoke when system shuts down. Unlike X{add_shutdown_hook}, these
     methods will be called before any other shutdown hooks.
     @param h: function that takes in a single string argument (shutdown reason)
-    @type h: fn(str)
+    @type  h: fn(str)
     """
     _add_shutdown_hook(h, _preshutdown_hooks)
 
@@ -352,7 +352,7 @@ def add_shutdown_hook(h):
     register client hooks.
 
     @param h: function that takes in a single string argument (shutdown reason)
-    @type h: fn(str)
+    @type  h: fn(str)
     """
     _add_shutdown_hook(h, _shutdown_hooks)
 
@@ -361,7 +361,7 @@ def signal_shutdown(reason):
     Initiates shutdown process by singaling objects waiting on _shutdown_lock.
     Shutdown and pre-shutdown hooks are invoked.
     @param reason: human-readable shutdown reason, if applicable
-    @type reason: str
+    @type  reason: str
     """
     global _shutdown_flag, _shutdown_lock, _shutdown_hooks
     _logger.info("signal_shutdown [%s]"%reason)
diff --git a/core/rospy/src/rospy/init.py b/core/rospy/src/rospy/init.py
index b2cf9659..de859f34 100644
--- a/core/rospy/src/rospy/init.py
+++ b/core/rospy/src/rospy/init.py
@@ -32,7 +32,7 @@
 #
 # Revision $Id$
 """
-ROSPY initialization 
+Internal use: rospy initialization.
 
 This is mainly routines for initializing the master or slave based on
 the OS environment.
@@ -120,13 +120,13 @@ def start_node(environ, name, master_uri=None, port=None):
     """
     Load ROS slave node, initialize from environment variables
     @param environ: environment variables
-    @type environ: dict
+    @type  environ: dict
     @param name: override ROS_NODE: name of slave node
-    @type name: str
+    @type  name: str
     @param master_uri: override ROS_MASTER_URI: XMlRPC URI of central ROS server
-    @type master_uri: str
+    @type  master_uri: str
     @param port: override ROS_PORT: port of slave xml-rpc node
-    @type port: int
+    @type  port: int
     @return: node proxy instance
     @rtype rospy.msproxy.NodeProxy
     """
diff --git a/core/rospy/src/rospy/masterslave.py b/core/rospy/src/rospy/masterslave.py
index ee1504a4..66f272f2 100644
--- a/core/rospy/src/rospy/masterslave.py
+++ b/core/rospy/src/rospy/masterslave.py
@@ -102,7 +102,7 @@ def apivalidate(error_return_value, validators=()):
       arg. None means no validation for the parameter is required. As all
       api methods take caller_id as the first parameter, the validators
       start with the second param.
-    @type validators: sequence
+    @type  validators: sequence
     """
     def check_validates(f):
         assert len(validators) == f.func_code.co_argcount - 2, "%s failed arg check"%f #ignore self and caller_id
@@ -173,11 +173,11 @@ class ROSHandler(XmlRpcHandler):
         """
         Base constructor for ROS nodes/masters
         @param name: ROS name of this node
-        @type name: str
+        @type  name: str
         @param master_uri: URI of master node, or None if this node is the master
-        @type master_uri: str
+        @type  master_uri: str
         @param is_slave: True if this is a slave node, False if master
-        @type is_slave: bool
+        @type  is_slave: bool
         """
         super(ROSHandler, self).__init__()
         self.masterUri = master_uri
@@ -213,7 +213,7 @@ class ROSHandler(XmlRpcHandler):
     def _ready(self, uri):
         """
         @param uri: XML-RPC URI
-        @type uri: str
+        @type  uri: str
         callback from ROSNode to inform handler of correct i/o information
         """
         _logger.info("_ready: %s", uri)
@@ -226,13 +226,13 @@ class ROSHandler(XmlRpcHandler):
         """
         Implements validation rules that require access to internal ROSHandler state.
         @param validation: name of validation rule to use
-        @type validation: str
+        @type  validation: str
         @param param_name: name of parameter being validated
-        @type param_name: str
+        @type  param_name: str
         @param param_value str: value of parameter
-        @type param_value: str
+        @type  param_value: str
         @param caller_id: value of caller_id parameter to API method
-        @type caller_id: str
+        @type  caller_id: str
         @raise ParameterInvalid: if the parameter does not meet validation
         @return: new value for parameter, after validation
         """
@@ -258,7 +258,7 @@ class ROSHandler(XmlRpcHandler):
         """
         @internal
         @param cls: class to register remappings on
-        @type cls: Class: class to register remappings on    
+        @type  cls: Class: class to register remappings on    
         @return: parameters (by pos) that should be remapped because they are names
         @rtype: list
         """
@@ -295,7 +295,7 @@ class ROSHandler(XmlRpcHandler):
         """
         Retrieve transport/topic statistics
         @param caller_id: ROS caller id    
-        @type caller_id: str
+        @type  caller_id: str
         @return: [publishStats, subscribeStats, serviceStats]::
            publishStats: [[topicName, messageDataSent, pubConnectionData]...[topicNameN, messageDataSentN, pubConnectionDataN]]
                pubConnectionData: [connectionId, bytesSent, numSent, connected]* . 
@@ -312,7 +312,7 @@ class ROSHandler(XmlRpcHandler):
         """
         Retrieve transport/topic connection information
         @param caller_id: ROS caller id    
-        @type caller_id: str
+        @type  caller_id: str
         """
         return 1, "bus info", get_topic_manager().get_pub_sub_info()
     
@@ -321,7 +321,7 @@ class ROSHandler(XmlRpcHandler):
         """
         Get the URI of the master node.
         @param caller_id: ROS caller id    
-        @type caller_id: str
+        @type  caller_id: str
         @return: [code, msg, masterUri]
         @rtype: [int, str, str]
         """
@@ -333,7 +333,7 @@ class ROSHandler(XmlRpcHandler):
     def _shutdown(self, reason=''):
         """
         @param reason: human-readable debug string
-        @type reason: str
+        @type  reason: str
         """
         if not self.done:
             self.done = True
@@ -351,9 +351,9 @@ class ROSHandler(XmlRpcHandler):
         """
         Stop this server
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param msg: a message describing why the node is being shutdown.
-        @type msg: str
+        @type  msg: str
         @return: [code, msg, 0]
         @rtype: [int, str, int]
         """
@@ -370,7 +370,7 @@ class ROSHandler(XmlRpcHandler):
         """
         Get the PID of this server
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @return: [1, "", serverProcessPID]
         @rtype: [int, str, int]
         """
@@ -392,7 +392,7 @@ class ROSHandler(XmlRpcHandler):
         """
         Retrieve a list of topics that this node publishes.
         @param caller_id: ROS caller id    
-        @type caller_id: str
+        @type  caller_id: str
         @return: list of topics published by this node
         @rtype: [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]
         """
@@ -402,9 +402,9 @@ class ROSHandler(XmlRpcHandler):
         """
         Connect subscriber to topic
         @param topic: topic name to connect 
-        @type topic: str
+        @type  topic: str
         @param pub_uri: API URI of topic publisher
-        @type pub_uri: str
+        @type  pub_uri: str
         @return: [code, msg, numConnects]. numConnects is the number
            of subscribers connected to the topic
         @rtype: [int, str, int]
@@ -458,11 +458,11 @@ class ROSHandler(XmlRpcHandler):
         """
         Callback from master of current publisher list for specified topic.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param parameter_key str: parameter name, globally resolved
-        @type parameter_key: str
+        @type  parameter_key: str
         @param parameter_value New parameter value
-        @type parameter_value: XMLRPC-legal value
+        @type  parameter_value: XMLRPC-legal value
         @return: [code, status, ignore]. If code is -1 ERROR, the node
         is not subscribed to parameter_key
         @rtype: [int, str, int]
@@ -478,11 +478,11 @@ class ROSHandler(XmlRpcHandler):
         """
         Callback from master of current publisher list for specified topic.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param topic str: topic name
-        @type topic: str
+        @type  topic: str
         @param publishers: list of current publishers for topic in the form of XMLRPC URIs
-        @type publishers: [str]
+        @type  publishers: [str]
         @return: [code, status, ignore]
         @rtype: [int, str, int]
         """
@@ -503,14 +503,14 @@ class ROSHandler(XmlRpcHandler):
         establishing connection. For example, for a TCP/IP-based connection,
         the source node may return a port number of TCP/IP server. 
         @param caller_id str: ROS caller id    
-        @type caller_id: str
+        @type  caller_id: str
         @param topic: topic name
-        @type topic: str
+        @type  topic: str
         @param protocols: list of desired
          protocols for communication in order of preference. Each
          protocol is a list of the form [ProtocolName,
          ProtocolParam1, ProtocolParam2...N]
-        @type protocols: [[str, XmlRpcLegalValue*]]
+        @type  protocols: [[str, XmlRpcLegalValue*]]
         @return: [code, msg, protocolParams]. protocolParams may be an
         empty list if there are no compatible protocols.
         @rtype: [int, str, [str, XmlRpcLegalValue*]]
@@ -589,7 +589,7 @@ class ROSMasterHandler(ROSHandler):
         """
         Get the URI of the master(this) node.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @return: [code, msg, masterUri]
         @rtype: [int, str, str]
         """
@@ -619,9 +619,9 @@ class ROSMasterHandler(ROSHandler):
         """
         Parameter Server: delete parameter
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param key: parameter name
-        @type key: str
+        @type  key: str
         @return: [code, msg, 0]
         @rtype: [int, str, int]
         """
@@ -648,11 +648,11 @@ class ROSMasterHandler(ROSHandler):
         parameters individually if you wish to perform a union update.
         
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param key: parameter name
-        @type key: str
+        @type  key: str
         @param value: parameter value.
-        @type value: XMLRPCLegalValue
+        @type  value: XMLRPCLegalValue
         @return: [code, msg, 0]
         @rtype: [int, str, int]
         """
@@ -667,10 +667,10 @@ class ROSMasterHandler(ROSHandler):
         """
         Retrieve parameter value from server.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param key: parameter to lookup. If key is a namespace,
         getParam() will return a parameter tree.
-        @type key: str
+        @type  key: str
         getParam() will return a parameter tree.
 
         @return: [code, statusMessage, parameterValue]. If code is not
@@ -709,10 +709,10 @@ class ROSMasterHandler(ROSHandler):
         parameter does not exist (yet).
 
         @param caller_id str: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param key: parameter to lookup. If key is a namespace,
         getParam() will return a parameter tree.
-        @type key: str
+        @type  key: str
         @return: [code, statusMessage, foundKey]. If code is not 1, parameterValue should be
             ignored. 
         @rtype: [int, str, str]
@@ -730,11 +730,11 @@ class ROSMasterHandler(ROSHandler):
         Retrieve parameter value from server and subscribe to updates to that param. See
         paramUpdate() in the Node API. 
         @param caller_id str: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param key: parameter to lookup.
-        @type key: str
+        @type  key: str
         @param caller_api: API URI for paramUpdate callbacks.
-        @type caller_api: str
+        @type  caller_api: str
         @return: [code, statusMessage, parameterValue]. If code is not
            1, parameterValue should be ignored. parameterValue is an empty dictionary if the parameter
            has not been set yet.
@@ -757,11 +757,11 @@ class ROSMasterHandler(ROSHandler):
         Retrieve parameter value from server and subscribe to updates to that param. See
         paramUpdate() in the Node API. 
         @param caller_id str: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param key: parameter to lookup.
-        @type key: str
+        @type  key: str
         @param str: API URI for paramUpdate callbacks.
-        @type caller_api: str
+        @type  caller_api: str
         @return: [code, statusMessage, numUnsubscribed]. If code is not
            If numUnsubscribed is zero it means that the caller was not subscribed to the parameter.
         @rtype: [int, str, XMLRPCLegalValue]
@@ -782,9 +782,9 @@ class ROSMasterHandler(ROSHandler):
         """
         Check if parameter is stored on server. 
         @param caller_id str: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param key: parameter to check
-        @type key: str
+        @type  key: str
         @return: [code, statusMessage, hasParam]
         @rtype: [int, str, bool]
         """
@@ -886,7 +886,7 @@ class ROSMasterHandler(ROSHandler):
         """
         Register the caller as a provider of the specified service.
         @param caller_id str: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param service str: Fully-qualified name of service 
         @param service_api str: Service URI 
         @param caller_api str: XML-RPC URI of caller node 
@@ -908,7 +908,7 @@ class ROSMasterHandler(ROSHandler):
         """
         Lookup all provider of a particular service.
         @param caller_id str: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param service: fully-qualified name of service to lookup.
         @type: service: str
         @return (int, str, str): (code, message, serviceUrl). service URL is provides
@@ -930,12 +930,12 @@ class ROSMasterHandler(ROSHandler):
         """
         Unregister the caller as a provider of the specified service.
         @param caller_id str: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param service: Fully-qualified name of service
-        @type service: str
+        @type  service: str
         @param service_api: API URI of service to unregister. Unregistration will only occur if current
            registration matches.
-        @type service_api: str
+        @type  service_api: str
         @return: (code, message, numUnregistered). Number of unregistrations (either 0 or 1).
            If this is zero it means that the caller was not registered as a service provider.
            The call still succeeds as the intended final state is reached.
@@ -962,12 +962,12 @@ class ROSMasterHandler(ROSHandler):
         a list of current publishers, the subscriber will also receive notifications
         of new publishers via the publisherUpdate API.        
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param topic str: Fully-qualified name of topic to subscribe to. 
         @param topic_type: Datatype for topic. Must be a package-resource name, i.e. the .msg name.
-        @type topic_type: str
+        @type  topic_type: str
         @param caller_api: XML-RPC URI of caller node for new publisher notifications
-        @type caller_api: str
+        @type  caller_api: str
         @return: (code, message, publishers). Publishers is a list of XMLRPC API URIs
            for nodes currently publishing the specified topic.
         @rtype: (int, str, list(str))
@@ -988,11 +988,11 @@ class ROSMasterHandler(ROSHandler):
         """
         Unregister the caller as a publisher of the topic.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param topic: Fully-qualified name of topic to unregister.
-        @type topic: str
+        @type  topic: str
         @param caller_api: API URI of service to unregister. Unregistration will only occur if current
-        @type caller_api: str
+        @type  caller_api: str
            registration matches.    
         @return: (code, statusMessage, numUnsubscribed). 
           If numUnsubscribed is zero it means that the caller was not registered as a subscriber.
@@ -1013,14 +1013,14 @@ class ROSMasterHandler(ROSHandler):
         """
         Register the caller as a publisher the topic.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param topic: Fully-qualified name of topic to register.
-        @type topic: str
+        @type  topic: str
         @param topic_type: Datatype for topic. Must be a
         package-resource name, i.e. the .msg name.
-        @type topic_type: str
+        @type  topic_type: str
         @param caller_api str: ROS caller XML-RPC API URI
-        @type caller_api: str
+        @type  caller_api: str
         @return: (code, statusMessage, subscriberApis).
         List of current subscribers of topic in the form of XMLRPC URIs.
         @rtype: (int, str, [str])
@@ -1047,13 +1047,13 @@ class ROSMasterHandler(ROSHandler):
         """
         Unregister the caller as a publisher of the topic.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param topic: Fully-qualified name of topic to unregister.
-        @type topic: str
+        @type  topic: str
         @param caller_api str: API URI of service to
            unregister. Unregistration will only occur if current
            registration matches.
-        @type caller_api: str
+        @type  caller_api: str
         @return: (code, statusMessage, numUnregistered). 
            If numUnregistered is zero it means that the caller was not registered as a publisher.
            The call still succeeds as the intended final state is reached.
@@ -1081,9 +1081,9 @@ class ROSMasterHandler(ROSHandler):
         publishers and subscribers. Use lookupService instead to lookup
         ROS-RPC URIs.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param node: name of node to lookup
-        @type node: str
+        @type  node: str
         @return: (code, msg, URI)
         @rtype: (int, str, str)
         """
@@ -1105,10 +1105,10 @@ class ROSMasterHandler(ROSHandler):
         Get list of topics that can be subscribed to. This does not return topics that have no publishers.
         See L{getSystemState()} to get more comprehensive list.
         @param caller_id: ROS caller id
-        @type caller_id: str
+        @type  caller_id: str
         @param subgraph: Restrict topic names to match within the specified subgraph. Subgraph namespace
            is resolved relative to the caller's namespace. Use '' to specify all names.
-        @type subgraph: str
+        @type  subgraph: str
         @return: (code, msg, [[topic1, type1]...[topicN, typeN]])
         @rtype: (int, str, [[str, str],])
         """
@@ -1129,7 +1129,7 @@ class ROSMasterHandler(ROSHandler):
         """
         Retrieve list representation of system state (i.e. publishers, subscribers, and services).
         @param caller_id: ROS caller id    
-        @type caller_id: str
+        @type  caller_id: str
         @rtype: (int, str, [[str,[str]], [str,[str]], [str,[str]]])
         @return: (code, statusMessage, systemState).
 
diff --git a/core/rospy/src/rospy/msg.py b/core/rospy/src/rospy/msg.py
index 9ea13c4d..523b0a08 100644
--- a/core/rospy/src/rospy/msg.py
+++ b/core/rospy/src/rospy/msg.py
@@ -32,7 +32,7 @@
 #
 # Revision $Id$
 
-## Support for ROS messages, including network serialization routines
+"""Internal use: Support for ROS messages, including network serialization routines"""
 
 import time
 import struct
@@ -78,11 +78,11 @@ def serialize_message(b, seq, msg):
     """
     Serialize the message to the buffer 
     @param b: buffer to write to. WARNING: buffer will be reset after call
-    @type b: StringIO
+    @type  b: StringIO
     @param msg: message to write
-    @type msg: Msg
+    @type  msg: Msg
     @param seq: current sequence number (for headers)
-    @type seq: int: current sequence number (for headers)
+    @type  seq: int: current sequence number (for headers)
     @raise ROSSerializationException: if unable to serialize
     message. This is usually due to a type error with one of the
     fields.
@@ -127,18 +127,18 @@ def deserialize_messages(b, msg_queue, data_class, queue_size=None, max_msgs=Non
     Read all messages off the buffer 
         
     @param b: buffer to read data from
-    @type b: StringIO
+    @type  b: StringIO
     @param msg_queue: queue to append deserialized data to
-    @type msg_queue: list
+    @type  msg_queue: list
     @param data_class: message deserialization class
-    @type data_class: Message class
+    @type  data_class: Message class
     @param queue_size: message queue size. all but the last 
     queue_size messages are discarded if this parameter is specified.
-    @type queue_size: int
+    @type  queue_size: int
     @param start: starting position to read in b
-    @type start: int
+    @type  start: int
     @param max_msgs int: maximum number of messages to deserialize or None
-    @type max_msgs: int
+    @type  max_msgs: int
     @raise roslib.message.DeserializationError: if an error/exception occurs during deserialization
     """    
     try:
diff --git a/core/rospy/src/rospy/msnode.py b/core/rospy/src/rospy/msnode.py
index 0465be72..bb028b33 100644
--- a/core/rospy/src/rospy/msnode.py
+++ b/core/rospy/src/rospy/msnode.py
@@ -32,7 +32,7 @@
 #
 # Revision $Id$
 
-## ROSNode wraps the master/slave implementations in an XMLRPC API
+"""Internal use: contains the L{ROSNode} wrapper, which provides an unified interface for running an XMLRPC server for the rospy client library."""
 
 import os
 import traceback
diff --git a/core/rospy/src/rospy/msproxy.py b/core/rospy/src/rospy/msproxy.py
index 4f98f0d6..fea1bea4 100644
--- a/core/rospy/src/rospy/msproxy.py
+++ b/core/rospy/src/rospy/msproxy.py
@@ -32,10 +32,11 @@
 #
 # Revision $Id$
 """
-Master/Slave XML-RPC Wrappers
+Master/Slave XML-RPC Wrappers.
 
-Simplifies usage of master/slave APIs by automatically inserting caller ID
-and also adding python dictionary accessors on the parameter server.
+The L{NodeProxy} and L{MasterProxy} simplify usage of master/slave
+APIs by automatically inserting the caller ID and also adding python
+dictionary accessors on the parameter server.
 """
     
 import rospy.core
diff --git a/core/rospy/src/rospy/names.py b/core/rospy/src/rospy/names.py
index b4ae5e89..f4d36665 100644
--- a/core/rospy/src/rospy/names.py
+++ b/core/rospy/src/rospy/names.py
@@ -57,7 +57,7 @@ def canonicalize_name(name):
     Put name in canonical form. Double slashes '//' are removed and
     name is returned without any trailing slash, e.g. /foo/bar
     @param name: ROS name
-    @type name: str
+    @type  name: str
     """
     if not name or name == SEP:
         return name
@@ -90,13 +90,13 @@ def resolve_name(name, caller_id=None, remap=True):
     are resolved relative to the node name. 
 
     @param name: name to resolve.
-    @type name: str
+    @type  name: str
     @param caller_id: caller_id to resolve name relative to. To
     resolve to local namespace, omit this parameter (or use None)
-    @type caller_id: str
+    @type  caller_id: str
     @param remap: If False, remapping is turned off. This is mainly
     used to prevent circular remappings.
-    @type remap: bool
+    @type  remap: bool
     @return: Resolved name. If name is empty/None, resolve_name
     returns parent namespace. If namespace is empty/None,
     @rtype: str
@@ -126,7 +126,7 @@ def remap_name(name, caller_id=None):
     resolve_name for APIs in which you don't wish to resolve the name
     unless it is remapped.
     @param name: name to remap
-    @type name: str
+    @type  name: str
     @return: Remapped name
     @rtype: str
     """
@@ -145,9 +145,9 @@ def scoped_name(caller_id, name):
     WARNING: scoped_name does not validate that name is actually within
     the supplied namespace.
     @param caller_id: caller ID, in canonical form
-    @type caller_id: str
+    @type  caller_id: str
     @param name: name to scope
-    @type name: str
+    @type  name: str
     @return: name scoped to the caller_id's namespace. 
     @rtype: str
     """
@@ -199,10 +199,10 @@ def valid_name(param_name, resolve=True):
     """
     Validator that resolves names and also ensures that they are not empty
     @param param_name: name
-    @type param_name: str
+    @type  param_name: str
     @param resolve: if True/omitted, the name will be resolved to
        a global form. Otherwise, no resolution occurs.
-    @type resolve: bool
+    @type  resolve: bool
     @return: resolved parameter value
     @rtype: str
     """
@@ -274,7 +274,7 @@ def _set_caller_id(caller_id):
     The caller_id is important as it is the first parameter to any API
     call on a remote node.  Invoked by ROSNode constructor
     @param caller_id: new caller ID
-    @type caller_id: str
+    @type  caller_id: str
     """    
     global _caller_id, _caller_namespace
     _caller_id = caller_id
diff --git a/core/rospy/src/rospy/registration.py b/core/rospy/src/rospy/registration.py
index b2fb94ba..7f861e60 100644
--- a/core/rospy/src/rospy/registration.py
+++ b/core/rospy/src/rospy/registration.py
@@ -32,6 +32,8 @@
 #
 # Revision $Id$
 
+"""Internal use: handles maintaining registrations with master via internal listener APIs"""
+
 import socket
 import sys
 import logging
@@ -44,8 +46,6 @@ import rospy.core
 from rospy.core import is_shutdown, xmlrpcapi, logfatal, logwarn, loginfo, logerr, logdebug
 from rospy.names import get_caller_id, get_namespace, resolve_name
 
-"""Internal use: handles maintaining registrations with master via internal listener APIs"""
-
 # topic manager and service manager singletons
 
 _topic_manager = None
@@ -77,9 +77,9 @@ class RegistrationListener(object):
         New pub/sub/service declared.
         @param name: topic/service name
         @param data_type_or_uri: topic type or service uri
-        @type data_type_or_uri: str
+        @type  data_type_or_uri: str
         @param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
-        @type reg_type: str
+        @type  reg_type: str
         """
         pass
     
@@ -87,11 +87,11 @@ class RegistrationListener(object):
         """
         New pub/sub/service removed.
         @param name: topic/service name
-        @type name: str
+        @type  name: str
         @param data_type_or_uri: topic type or service uri
-        @type data_type_or_uri: str
+        @type  data_type_or_uri: str
         @param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
-        @type reg_type: str
+        @type  reg_type: str
         """
         pass
 
@@ -110,7 +110,7 @@ class _RegistrationListeners(object):
         changes. This is an internal API used to notify higher level
         routines when to communicate with the master.
         @param l: listener to subscribe
-        @type l: TopicListener
+        @type  l: TopicListener
         """
         assert isinstance(l, RegistrationListener)
         try:
@@ -122,11 +122,11 @@ class _RegistrationListeners(object):
     def notify_removed(self, name, data_type_or_uri, reg_type):
         """
         @param name: topic/service name
-        @type name: str
+        @type  name: str
         @param data_type_or_uri: topic type or service uri
-        @type data_type_or_uri: str
+        @type  data_type_or_uri: str
         @param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
-        @type reg_type: str
+        @type  reg_type: str
         """
         try:
             self.lock.acquire()
@@ -141,11 +141,11 @@ class _RegistrationListeners(object):
     def notify_added(self, name, data_type, reg_type):
         """
         @param name: topic/service name
-        @type name: str
+        @type  name: str
         @param data_type: topic/service type
-        @type data_type: str
+        @type  data_type: str
         @param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
-        @type reg_type: str
+        @type  reg_type: str
         """
         try:
             self.lock.acquire()
@@ -189,9 +189,9 @@ class RegManager(RegistrationListener):
         Start the RegManager. This should be passed in as an argument to a thread
         starter as the RegManager is designed to spin in its own thread
         @param uri: URI of local node
-        @type uri: str
+        @type  uri: str
         @param master_uri: Master URI
-        @type master_uri: str
+        @type  master_uri: str
         """
         self.registered = False 
         self.master_uri = master_uri
@@ -315,7 +315,7 @@ class RegManager(RegistrationListener):
         """
         Cleans up registrations with master and releases topic and service resources
         @param reason: human-reasonable debug string
-        @type reason: str
+        @type  reason: str
         """        
         try:
             self.cond.acquire()
@@ -364,11 +364,11 @@ class RegManager(RegistrationListener):
         """
         RegistrationListener callback
         @param name: name of topic or service
-        @type name: str
+        @type  name: str
         @param data_type_or_uri: either the data type (for topic regs) or the service URI (for service regs).
-        @type data_type_or_uri: str
+        @type  data_type_or_uri: str
         @param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
-        @type reg_type: str
+        @type  reg_type: str
         """
         master_uri = self.master_uri
         if not master_uri:
@@ -389,11 +389,11 @@ class RegManager(RegistrationListener):
         """
         RegistrationListener callback
         @param name: name of topic or service
-        @type name: str
+        @type  name: str
         @param data_type_or_uri: either the data type (for topic regs) or the service URI (for service regs).
-        @type data_type_or_uri: str
+        @type  data_type_or_uri: str
         @param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
-        @type reg_type: str
+        @type  reg_type: str
         """
         #TODO: this needs to be made robust to master outages
         master_uri = self.master_uri
@@ -441,9 +441,9 @@ class RegManager(RegistrationListener):
         will cause L{RegManager} to create a topic connection for all new
         publishers (in a separate thread).
         @param topic: Topic name
-        @type topic: str
+        @type  topic: str
         @param uris: list of all publishers uris for topic
-        @type uris: [str]
+        @type  uris: [str]
         """
         try:
             self.cond.acquire()
diff --git a/core/rospy/src/rospy/rosout.py b/core/rospy/src/rospy/rosout.py
index 5932d13f..60e9a411 100644
--- a/core/rospy/src/rospy/rosout.py
+++ b/core/rospy/src/rospy/rosout.py
@@ -32,7 +32,7 @@
 #
 # Revision $Id: client.py 2258 2008-09-30 23:03:06Z sfkwc $
 
-## Internal use: support for /rosout logging in rospy
+"""Internal use: support for /rosout logging in rospy"""
 
 import logging
 import sys
diff --git a/core/rospy/src/rospy/rostime.py b/core/rospy/src/rospy/rostime.py
index 957d4ee3..ae482f22 100644
--- a/core/rospy/src/rospy/rostime.py
+++ b/core/rospy/src/rospy/rostime.py
@@ -32,7 +32,7 @@
 #
 # Revision $Id: client.py 2258 2008-09-30 23:03:06Z sfkwc $
 
-## ROS time and duration representations and API
+"""ROS time and duration representations, as well as internal routines for managing wallclock versus simulated time."""
 
 import threading
 import time
@@ -88,7 +88,7 @@ class Time(roslib.rostime.Time):
         create new Time instance using time.time() value (float
         seconds)
         @param float_secs: time value in time.time() format
-        @type float_secs: float
+        @type  float_secs: float
         @return: Time instance for specified time
         @rtype: L{Time}
         """
@@ -134,7 +134,7 @@ def set_rostime_initialized(val):
     throw exceptions if rostime is being used before the underlying
     system is initialized.
     @param val: value for initialization state
-    @type val: bool
+    @type  val: bool
     """
     global _rostime_initialized
     _rostime_initialized = val
diff --git a/core/rospy/src/rospy/service.py b/core/rospy/src/rospy/service.py
index f47bde76..0a268d95 100644
--- a/core/rospy/src/rospy/service.py
+++ b/core/rospy/src/rospy/service.py
@@ -95,9 +95,9 @@ class ServiceManager(object):
         """
         Register service with ServiceManager and ROS master
         @param service_name: name of service (resolved)
-        @type service_name: str
+        @type  service_name: str
         @param service: Service to register
-        @type service: L{_Service}
+        @type  service: L{_Service}
         """
         err = None
         try:
@@ -119,9 +119,9 @@ class ServiceManager(object):
         """
         Unregister service with L{ServiceManager} and ROS Master
         @param service_name: name of service
-        @type service_name: str
+        @type  service_name: str
         @param service: service implementation
-        @type service: L{_Service}
+        @type  service: L{_Service}
         """        
         try:
             self.lock.acquire()
@@ -137,7 +137,7 @@ class ServiceManager(object):
     def get_service(self, service_name):
         """
         @param service_name: name of service
-        @type service_name: str
+        @type  service_name: str
         @return: service implementation
         @rtype: _Service
         """
diff --git a/core/rospy/src/rospy/tcpros.py b/core/rospy/src/rospy/tcpros.py
index 7e296052..481b76e0 100644
--- a/core/rospy/src/rospy/tcpros.py
+++ b/core/rospy/src/rospy/tcpros.py
@@ -33,24 +33,14 @@
 # Revision $Id$
 """
 TCPROS connection protocol.
+
+Implements: U{http://ros.org/wiki/ROS/TCPROS}
+
+The rospy tcpros implementation is split into three areas:
+ - L{rospy.tcpros_base}: common TCPROS routines, including header and connection processing
+ - L{rospy.tcpros_pubsub}: Topic-specific capabilities for publishing and subscribing
+ - L{rospy.tcpros_service}: Service-specific capabilities 
 """
-## TCPROS connection protocol.
-#  http://pr.willowgarage.com/wiki/ROS/TCPROS
-# 
-#  TCPROS sets up a TCP/IP server socket on the source machine that
-#  waits for incoming connections. When it receives an incoming
-#  connection, it parses the header sent along the connection to
-#  determine which topic it corresponds to. The format of this header
-#  is:
-# 
-#  HEADER-LENGTH (32-bit int)
-#  TOPIC-NAME (string identifier)
-#  '\n' (newline character)
-#  MSG-MD5SUM
-#
-#  The MSG-MD5SUM is an md5sum of the full text of the .msg file. As
-#  such, it will signal a version change even for compatible changes to
-#  the file.
 
 import rospy.tcpros_base
 import rospy.tcpros_pubsub
diff --git a/core/rospy/src/rospy/tcpros_pubsub.py b/core/rospy/src/rospy/tcpros_pubsub.py
index e10069a5..e033c250 100644
--- a/core/rospy/src/rospy/tcpros_pubsub.py
+++ b/core/rospy/src/rospy/tcpros_pubsub.py
@@ -32,6 +32,8 @@
 #
 # Revision $Id: transport.py 2941 2008-11-26 03:19:48Z sfkwc $
 
+"""Internal use: Topic-specific extensions for TCPROS support"""
+
 import logging
 import socket
 import thread
@@ -46,26 +48,36 @@ from rospy.tcpros_base import TCPROSTransport, TCPROSTransportProtocol, \
     get_tcpros_server_address, start_tcpros_server,\
     DEFAULT_BUFF_SIZE, TCPROS
 
-## Subscription transport implementation for receiving topic data via
-## peer-to-peer TCP/IP sockets
 class TCPROSSub(TCPROSTransportProtocol):
-    """Receive topic data via peer-to-peer TCP/IP sockets"""
+    """
+    Subscription transport implementation for receiving topic data via
+    peer-to-peer TCP/IP sockets
+    """
 
-    ## ctor.
-    ## @param recv_data_class Message: class to instantiate to receive
-    ## messages
-    ## @param queue_size int: maximum number of messages to
-    ## deserialize from newly read data off socket
-    ## @param buff_size int: recv buffer size
-    ## @param tcp_nodelay bool: If True, request TCP_NODELAY from publisher
     def __init__(self, name, recv_data_class, queue_size=None, \
                      buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
+        """
+        ctor.
+        @param recv_data_class: class to instantiate to receive
+        messages
+        @type recv_data_class: L{rospy.Message}
+        @param queue_size: maximum number of messages to
+        deserialize from newly read data off socket
+        @type queue_size: int
+        @param buff_size: recv buffer size
+        @type buff_size: int
+        @param tcp_nodelay: If True, request TCP_NODELAY from publisher
+        @type tcp_nodelay: bool
+        """
         super(TCPROSSub, self).__init__(name, recv_data_class, queue_size, buff_size)
         self.direction = rospy.transport.INBOUND
         self.tcp_nodelay = tcp_nodelay
         
-    ## @return d dictionary of subscriber fields
     def get_header_fields(self):
+        """
+        @return: dictionary of subscriber fields
+        @rtype: dict
+        """
         return {'topic': self.name,
                 'message_definition': self.recv_data_class._full_text,
                 'tcp_nodelay': '1' if self.tcp_nodelay else '0',
@@ -74,10 +86,14 @@ class TCPROSSub(TCPROSTransportProtocol):
                 'callerid': rospy.names.get_caller_id()}        
 
 # Separate method for easier testing
-## Configure socket options on a new publisher socket.
-## @param sock socket.socket
-## @param is_tcp_nodelay bool: if True, TCP_NODELAY will be set on outgoing socket if available
 def _configure_pub_socket(sock, is_tcp_nodelay):
+    """
+    Configure socket options on a new publisher socket.
+    @param sock: socket.socket
+    @type sock: socket.socket
+    @param is_tcp_nodelay: if True, TCP_NODELAY will be set on outgoing socket if available
+    @param is_tcp_nodelay: bool
+    """
     # #956: low latency, TCP_NODELAY support
     if is_tcp_nodelay:
         if hasattr(socket, 'TCP_NODELAY'):
@@ -87,15 +103,22 @@ def _configure_pub_socket(sock, is_tcp_nodelay):
 
 #TODO:POLLING: TCPROSPub currently doesn't actually do anything -- not until polling is implemented
 
-## Publisher transport implementation for publishing topic data via
-## peer-to-peer TCP/IP sockets. 
 class TCPROSPub(TCPROSTransportProtocol):
-    """Receive topic data via peer-to-peer TCP/IP sockets"""
-
-    ## @param name str: topic name
-    ## @param pub_data_class Message class: class to instance to receive messages
-    ## @param is_latch bool: If True, Publisher is latching
+    """
+    Publisher transport implementation for publishing topic data via
+    peer-to-peer TCP/IP sockets. 
+    """
+    
     def __init__(self, name, pub_data_class, is_latch=False, headers=None):
+        """
+        ctor.
+        @param name: topic name
+        @type name: str
+        @param pub_data_class: class to instance to receive messages
+        @type pub_data_class: L{rospy.Message} class
+        @param is_latch: If True, Publisher is latching
+        @type is_latch: bool
+        """
         # very small buffer size for publishers as the messages they receive are very small
         super(TCPROSPub, self).__init__(name, None, queue_size=None, buff_size=128)
         self.pub_data_class = pub_data_class
@@ -118,33 +141,45 @@ class TCPROSPub(TCPROSTransportProtocol):
             base.update(self.headers)
         return base
 
-## ROS Protocol handler for TCPROS. Accepts both TCPROS topic
-## connections as well as ROS service connections over TCP. TCP server
-## socket is run once start_server() is called -- this is implicitly
-## called during init_publisher().
 class TCPROSHandler(rospy.transport.ProtocolHandler):
-    ## @param self
+    """
+    ROS Protocol handler for TCPROS. Accepts both TCPROS topic
+    connections as well as ROS service connections over TCP. TCP server
+    socket is run once start_server() is called -- this is implicitly
+    called during init_publisher().
+    """
+
     def __init__(self):
+        """ctor"""
         self.tcp_nodelay_map = {} # { topic : tcp_nodelay}
     
-    ## @param tcp_nodelay bool: If True, sets TCP_NODELAY on
-    ##   publisher's socket (disables Nagle algorithm). This results
-    ##   in lower latency publishing at the cost of efficiency.
     def set_tcp_nodelay(self, topic, tcp_nodelay):
+        """
+        @param tcp_nodelay: If True, sets TCP_NODELAY on publisher's
+        socket (disables Nagle algorithm). This results in lower
+        latency publishing at the cost of efficiency.
+        @type tcp_nodelay: bool
+        """
         self.tcp_nodelay_map[rospy.names.resolve_name(topic)] = tcp_nodelay
 
-    ## stops the TCP/IP server responsible for receiving inbound connections
-    ## @param self
     def shutdown(self):
+        """
+        stops the TCP/IP server responsible for receiving inbound connections        
+        """
         pass
 
-    ## Connect to topic \a topic_name on Publisher \a pub_uri using TCPROS.
-    ## @param self
-    ## @param topic_name str: topic name
-    ## @param pub_uri str: XML-RPC URI of publisher 
-    ## @param protocol_params [XmlRpcLegal]: protocol parameters to use for connecting
-    ## @return int, str, int: code, message, debug
     def create_transport(self, topic_name, pub_uri, protocol_params):
+        """
+        Connect to topic topic_name on Publisher pub_uri using TCPROS.
+        @param topic_name str: topic name
+        @type topic_name: str
+        @param pub_uri: XML-RPC URI of publisher 
+        @type pub_uri: str
+        @param protocol_params: protocol parameters to use for connecting
+        @type protocol_params: [XmlRpcLegal]
+        @return: code, message, debug
+        @rtype: (int, str, int)
+        """
         
         #Validate protocol params = [TCPROS, address, port]
         if type(protocol_params) != list or len(protocol_params) != 3:
@@ -175,38 +210,53 @@ class TCPROSHandler(rospy.transport.ProtocolHandler):
             conn.close()
             return 0, "ERROR: Race condition failure: duplicate topic subscriber [%s] was created"%(topic_name), 0
 
-    ## @param self
-    ## @param protocol str: name of protocol
-    ## @return bool: True if protocol is supported
     def supports(self, protocol):
+        """
+        @param protocol: name of protocol
+        @type protocol: str
+        @return: True if protocol is supported
+        @rtype: bool
+        """
         return protocol == TCPROS
     
-    ## @param self
     def get_supported(self):
+        """
+        Get supported protocols
+        """
         return [[TCPROS]]
         
-    ## Initialize this node to receive an inbound TCP connection,
-    ## i.e. startup a TCP server if one is not already running.
-    ## @param self
-    ## @param topic_name str
-    ## @param protocol [str, value*]: negotiated protocol
-    ## parameters. protocol[0] must be the string 'TCPROS'
-    ## @return (int, str, list): (code, msg, [TCPROS, addr, port])
-    def init_publisher(self, topic_name, protocol): 
+    def init_publisher(self, topic_name, protocol):
+        """
+        Initialize this node to receive an inbound TCP connection,
+        i.e. startup a TCP server if one is not already running.
+        @param topic_name: topic name
+        @type topic_name: str    
+        @param protocol: negotiated protocol
+        parameters. protocol[0] must be the string 'TCPROS'
+        @type protocol: [str, value*]
+        @return: (code, msg, [TCPROS, addr, port])
+        @rtype: (int, str, list)
+        """
         if protocol[0] != TCPROS:
             return 0, "Internal error: protocol does not match TCPROS: %s"%protocol, []
         start_tcpros_server()
         addr, port = get_tcpros_server_address()
         return 1, "ready on %s:%s"%(addr, port), [TCPROS, addr, port]
 
-    ## Process incoming topic connection. Reads in topic name from
-    ## handshake and creates the appropriate TCPROSPub handler for the
-    ## connection.
-    ## @param sock socket: socket connection
-    ## @param client_addr (str, int): client address
-    ## @param header dict: key/value pairs from handshake header
-    ## @return str: error string or None 
     def topic_connection_handler(self, sock, client_addr, header):
+        """
+        Process incoming topic connection. Reads in topic name from
+        handshake and creates the appropriate L{TCPROSPub} handler for the
+        connection.
+        @param sock: socket connection
+        @type sock: socket.socket
+        @param client_addr: client address
+        @type client_addr: (str, int)
+        @param header: key/value pairs from handshake header
+        @type header: dict
+        @return: error string or None 
+        @rtype: str
+        """
         for required in ['topic', 'md5sum', 'callerid']:
             if not required in header:
                 return "Missing required '%s' field"%required
diff --git a/core/rospy/src/rospy/tcpros_service.py b/core/rospy/src/rospy/tcpros_service.py
index f22fca5f..420f6c35 100644
--- a/core/rospy/src/rospy/tcpros_service.py
+++ b/core/rospy/src/rospy/tcpros_service.py
@@ -32,6 +32,8 @@
 #
 # Revision $Id: service.py 2945 2008-11-26 03:48:27Z sfkwc $
 
+"""Internal use: Service-specific extensions for TCPROS support"""
+
 import cStringIO
 import socket
 import struct
@@ -92,8 +94,10 @@ def service_connection_handler(sock, client_addr, header):
             thread.start_new_thread(service.handle, (transport, header))
                 
         
-## Protocol implementation for Services over TCPROS
 class TCPService(TCPROSTransportProtocol):
+    """
+    Protocol implementation for Services over TCPROS
+    """
 
     ## ctor.
     ## @param self
@@ -110,24 +114,30 @@ class TCPService(TCPROSTransportProtocol):
         return {'service': self.name, 'type': self.service_class._type,
                 'md5sum': self.service_class._md5sum, 'callerid': rospy.names.get_caller_id() }
 
-## Protocol Implementation for Service clients over TCPROS
 class TCPROSServiceClient(TCPROSTransportProtocol):
-
-    ## ctor.
-    ## @param self
-    ## @param name str: name of service
-    ## @param service_class Service: Service data type class
-    ## @param headers dict: identifier for Service session
-    ## @param buff_size int: size of buffer (bytes) for reading responses from Service. 
+    """Protocol Implementation for Service clients over TCPROS"""
+    
     def __init__(self, name, service_class, headers=None, buff_size=DEFAULT_BUFF_SIZE):
+        """
+        ctor.
+        @param name: name of service
+        @type  name: str
+        @param service_class: Service data type class
+        @type  service_class: Service
+        @param headers: identifier for Service session
+        @type  headers: dict
+        @param buff_size: size of buffer (bytes) for reading responses from Service. 
+        @type  buff_size: int
+        """
         super(TCPROSServiceClient, self).__init__(name, service_class._response_class)
         self.service_class = service_class
         self.headers = headers or {}
         self.buff_size = buff_size
         
-    ## TCPROSTransportProtocol API
-    ## @param self
     def get_header_fields(self):
+        """
+        TCPROSTransportProtocol API        
+        """
         headers = {'service': self.name, 'md5sum': self.service_class._md5sum,
                    'callerid': rospy.names.get_caller_id()}
         # The current implementation allows user-supplied headers to
@@ -137,12 +147,15 @@ class TCPROSServiceClient(TCPROSTransportProtocol):
             headers[k] = v
         return headers
     
-    ## utility for reading the OK-byte/error-message header preceding each message
-    ## @param self
-    ## @param sock: socket connection. Will be read from if OK byte is
-    ## false and error message needs to be read
-    ## @param b StringIO: buffer to read from
     def _read_ok_byte(self, b, sock):
+        """
+        Utility for reading the OK-byte/error-message header preceding each message.
+        @param sock: socket connection. Will be read from if OK byte is
+        false and error message needs to be read
+        @type  sock: socket.socket
+        @param b: buffer to read from
+        @type  b: StringIO
+        """
         if b.tell() == 0:
             return
         pos = b.tell()
@@ -153,9 +166,18 @@ class TCPROSServiceClient(TCPROSTransportProtocol):
             str = self._read_service_error(sock, b)
             raise ServiceException("service [%s] responded with an error: %s"%(self.name, str))
         
-    ## In service implementation, reads in OK byte that preceeds each response. The OK byte allows
-    ## for the passing of error messages instead of a response message
     def read_messages(self, b, msg_queue, sock):
+        """
+        In service implementation, reads in OK byte that preceeds each
+        response. The OK byte allows for the passing of error messages
+        instead of a response message
+        @param b: buffer
+        @type  b: StringIO
+        @param msg_queue: Message queue to append to
+        @type  msg_queue: [Message]
+        @param sock: socket to read from
+        @type  sock: socket.socket
+        """
         self._read_ok_byte(b, sock)
         rospy.msg.deserialize_messages(b, msg_queue, self.recv_data_class, queue_size=self.queue_size, max_msgs=1, start=1) #rospy.msg
         #deserialize_messages only resets the buffer to the start
@@ -194,16 +216,16 @@ class ServiceProxy(_Service):
         """
         ctor.
         @param name: name of service to call
-        @type name: str
+        @type  name: str
         @param service_class: auto-generated service class
-        @type service_class: Service class
+        @type  service_class: Service class
         @param persistent: if True, proxy maintains a persistent
         connection to service. While this results in better call
         performance, persistent connections are discouraged as they are
         less resistent to network issues and service restarts.
-        @type persistent: bool
+        @type  persistent: bool
         @param headers: arbitrary headers 
-        @type headers: dict
+        @type  headers: dict
         """
         super(ServiceProxy, self).__init__(name, service_class)
         self.uri = None
@@ -234,9 +256,9 @@ class ServiceProxy(_Service):
         """
         private routine for getting URI of service to call
         @param request: request message
-        @type request: Message
+        @type  request: Message
         @param timeout: timeout in seconds
-        @type timeout: float
+        @type  timeout: float
         """
         if not isinstance(request, rospy.msg.Message):
             raise TypeError("request object is not a valid request message instance")
@@ -268,9 +290,9 @@ class ServiceProxy(_Service):
         """
         Call the service 
         @param request: service request message instance
-        @type request: Messsage
+        @type  request: Messsage
         @param timeout: (keyword arg) number of seconds before request times out
-        @type timeout: float
+        @type  timeout: float
         @raise TypeError: if request is not of the valid type (Message)
         @raise ServiceException: if communication with remote service fails
         @raise ROSSerializationException: If unable to serialize
@@ -328,15 +350,15 @@ class Service(_Service):
         """
         ctor.
         @param name: service name
-        @type name: str
+        @type  name: str
         @param service_class: ServiceDefinition class
-        @type service_class: ServiceDefinition class
+        @type  service_class: ServiceDefinition class
         @param handler: callback function for processing service
         request. Function takes in a ServiceRequest and returns a
         ServiceResponse of the appropriate type.
-        @type handler: fn(req)->resp
+        @type  handler: fn(req)->resp
         @param buff_size: size of buffer for reading incoming requests. Should be at least size of request message
-        @type buff_size: int
+        @type  buff_size: int
         """
         super(Service, self).__init__(name, service_class)
         self.handler = handler
@@ -362,7 +384,7 @@ class Service(_Service):
         """
         Stop this service
         @param reason: human-readable shutdown reason
-        @type reason: str
+        @type  reason: str
         """
         self.done = True
         logdebug('[%s].shutdown: reason [%s]'%(self.name, reason))
@@ -387,9 +409,9 @@ class Service(_Service):
         """
         Send error message to client
         @param transport: transport connection to client 
-        @type transport: Transport
+        @type  transport: Transport
         @param err_msg: error message to send to client
-        @type err_msg: str
+        @type  err_msg: str
         """
         transport.write_data(struct.pack('<BI%ss'%len(err_msg), 0, len(err_msg), err_msg))
         
@@ -397,7 +419,7 @@ class Service(_Service):
         """
         Process a single incoming request.
         @param transport: transport instance
-        @type transport: L{TCPROSTransport}
+        @type  transport: L{TCPROSTransport}
         @param request: Message
         """
         try:
@@ -422,9 +444,9 @@ class Service(_Service):
         own thread. If header['persistent'] is set to 1, method will
         block until connection is broken.
         @param transport: transport instance
-        @type transport: L{TCPROSTransport}
+        @type  transport: L{TCPROSTransport}
         @param header: headers from client
-        @type header: dict
+        @type  header: dict
         """
         if 'persistent' in header and \
                header['persistent'].lower() in ['1', 'true']:
diff --git a/core/rospy/src/rospy/threadpool.py b/core/rospy/src/rospy/threadpool.py
index 36858a1f..b5e982f1 100644
--- a/core/rospy/src/rospy/threadpool.py
+++ b/core/rospy/src/rospy/threadpool.py
@@ -32,12 +32,16 @@
 #
 # Revision $Id$
 
-## Adapted from http://aspn.activestate.com/ASPN/Cookbook/Python/Recipe/203871
-##
-## Added a 'marker' to tasks so that multiple tasks with the same
-## marker are not executed. As we are using the thread pool for i/o
-## tasks, the marker is set to the i/o name. This prevents a slow i/o
-## for gobbling up all of our threads
+"""
+Internal threadpool library for zenmaster.
+
+Adapted from U{http://aspn.activestate.com/ASPN/Cookbook/Python/Recipe/203871}
+
+Added a 'marker' to tasks so that multiple tasks with the same
+marker are not executed. As we are using the thread pool for i/o
+tasks, the marker is set to the i/o name. This prevents a slow i/o
+for gobbling up all of our threads
+"""
 
 import threading, logging, traceback
 from time import sleep
diff --git a/core/rospy/src/rospy/topics.py b/core/rospy/src/rospy/topics.py
index 43bb2f7b..29a6fb26 100644
--- a/core/rospy/src/rospy/topics.py
+++ b/core/rospy/src/rospy/topics.py
@@ -32,13 +32,13 @@
 #
 # Revision $Id$
 
-"""rospy implementation of topics.
+"""
+rospy implementation of topics.
 
 Client API
 ==========
 
-L{Publisher} and L{Subscriber} are the client-API facing instantiation
-of topics.
+L{Publisher} and L{Subscriber} are the client API for topics.
 
 Internal Implementation
 =======================
@@ -54,20 +54,13 @@ L{_TopicManager}
 The L{_TopicManager} does the backend topic bookkeeping for the local
 node.  Use L{get_topic_manager()} to access singleton. Actual topic
 implementations are done through the
-L{_TopicImpl}/L{_PublisherImpl}/L{_SubscriberImpl}
-hierarchy. Client code generates instances of type
-L{Publisher}/L{Subscriber}, which enable to client to create
-multiple publishers/subscribers of that topic that get controlled
-access to the underlying share connections.
+L{_TopicImpl}/L{_PublisherImpl}/L{_SubscriberImpl} hierarchy. Client
+code generates instances of type L{Publisher}/L{Subscriber}, which
+enable to client to create multiple publishers/subscribers of that
+topic that get controlled access to the underlying share connections.
 
 Common parent classes for all rospy topics. The rospy topic autogenerators
 create classes that are children of these implementations.
- 
-TopicListener
-=============
- 
-Subscribe to new topics created by the local node. This is mainly
-a hook for creating registration calls to the master.
 """
 
 from __future__ import with_statement
@@ -92,15 +85,20 @@ logger = logging.getLogger('rospy.topics')
 # for interfacing with topics, while _TopicImpl implements the
 # underlying connection details. 
 
-##Base class of client API topic references
 class Topic(object):
+    """Base class of L{Publisher} and L{Subscriber}"""
     
-    ## @param self
-    ## @param name str: graph resource name of topic, e.g. 'laser'. 
-    ## @param data_class Message: message class for serialization
-    ## @param reg_type Registration.PUB or Registration.SUB
-    ## @raise ValueError if parameters are invalid
     def __init__(self, name, data_class, reg_type):
+        """
+        @param name: graph resource name of topic, e.g. 'laser'. 
+        @type  name: str
+        @param data_class: message class for serialization
+        @type  data_class: Message
+        @param reg_type Registration.PUB or Registration.SUB
+        @type  reg_type: str
+        @raise ValueError: if parameters are invalid
+        """
+        
         if not name or not isinstance(name, basestring):
             raise ValueError("topic parameter 'name' is not a non-empty string")
         if data_class is None:
@@ -117,29 +115,39 @@ class Topic(object):
         self.reg_type = reg_type
         self.impl = get_topic_manager().acquire_impl(reg_type, self.name, data_class)
 
-    ## get the number of connections to other ROS nodes for this topic. For a Publisher,
-    ## this corresponds to the number of nodes subscribing. For a Subscriber, the number
-    ## of publishers.
     def get_num_connections(self):
+        """
+        get the number of connections to other ROS nodes for this topic. For a Publisher,
+        this corresponds to the number of nodes subscribing. For a Subscriber, the number
+        of publishers.
+        @return: number of connections
+        @rtype: int
+        """
         return self.impl.get_num_connections()
         
-    ## unpublish/unsubscribe from topic. Topic instance is no longer
-    ## valid after this call.
-    ## @param self
     def unregister(self):
+        """
+        unpublish/unsubscribe from topic. Topic instance is no longer
+        valid after this call.
+        """
         get_topic_manager().release_impl(self.reg_type, self.name)
         self.impl = self.name = self.type = self.md5sum = self.data_class = None
     
-## Base class of internal topic implementations. Each topic has a
-## singleton _TopicImpl implementation for managing the underlying
-## connections.
 class _TopicImpl(object):
+    """
+    Base class of internal topic implementations. Each topic has a
+    singleton _TopicImpl implementation for managing the underlying
+    connections.
+    """
     
-    ## Base constructor
-    ## @param self
-    ## @param name str: graph resource name of topic, e.g. 'laser'. 
-    ## @param data_class Message: message data class 
     def __init__(self, name, data_class):
+        """
+        Base constructor
+        @param name: graph resource name of topic, e.g. 'laser'. 
+        @type  name: str
+        @param data_class Message: message data class 
+        @type  data_class: Message
+        """
         self.name = resolve_name(name) #NOTE: remapping occurs here!
         self.data_class = data_class
         self.type = data_class._type
@@ -160,9 +168,8 @@ class _TopicImpl(object):
         #STATS
         self.dead_connections = [] #for retaining stats on old conns
 
-    ## close I/O
-    ## @param self
     def close(self):
+        """close I/O"""
         self.closed = True
         with self.c_lock:
             for c in self.connections:
@@ -177,11 +184,13 @@ class _TopicImpl(object):
         with self.c_lock:
             return len(self.connections)
     
-    ## Query whether or not a connection with the associated \a
-    ## endpoint has been added to this object.
-    ## @param self
-    ## @param endpoint_id str: endpoint ID associated with connection. 
     def has_connection(self, endpoint_id):
+        """
+        Query whether or not a connection with the associated \a
+        endpoint has been added to this object.
+        @param endpoint_id: endpoint ID associated with connection. 
+        @type  endpoint_id: str
+        """
         # save reference to avoid lock
         conn = self.connections
         for c in conn:
@@ -189,18 +198,24 @@ class _TopicImpl(object):
                 return True
         return False
 
-    ## Check to see if this topic is connected to other publishers/subscribers
-    ## @param self
     def has_connections(self):
+        """
+        Check to see if this topic is connected to other publishers/subscribers 
+        @return: True if topic is connected
+        @rtype: bool
+        """
         if self.connections:
             return True
         return False
 
-    ## Add a connection to this topic. 
-    ## @param self
-    ## @param c Transport: connection instance
-    ## @return bool: True if connection was added
     def add_connection(self, c):
+        """
+        Add a connection to this topic. 
+        @param c: connection instance
+        @type  c: Transport
+        @return: True if connection was added
+        @rtype: bool
+        """
         with self.c_lock:
             # c_lock is to make add_connection thread-safe, but we
             # still make a copy of self.connections so that the rest of the
@@ -214,10 +229,12 @@ class _TopicImpl(object):
             
             return True
 
-    ## Remove connection from topic.
-    ## @param self
-    ## @param c Transport: connection instance to remove
     def remove_connection(self, c):
+        """
+        Remove connection from topic.
+        @param c: connection instance to remove
+        @type  c: Transport
+        """
         try:
             # c_lock is to make remove_connection thread-safe, but we
             # still make a copy of self.connections so that the rest of the
@@ -233,20 +250,21 @@ class _TopicImpl(object):
         finally:
             self.c_lock.release()
 
-    ## Get the stats for this topic
-    ## @param self
-    ## @return list: stats for topic in getBusInfo() format
-    ## ((connection_id, destination_caller_id, direction, transport, topic_name, connected)*)
     def get_stats_info(self): # STATS
+        """
+        Get the stats for this topic
+        @return: stats for topic in getBusInfo() format::
+          ((connection_id, destination_caller_id, direction, transport, topic_name, connected)*)
+        @rtype: list
+        """
         # save referenceto avoid locking
         connections = self.connections
         dead_connections = self.dead_connections
         return [(c.id, c.endpoint_id, c.direction, c.transport_type, self.name, True) for c in connections] + \
                [(c.id, c.endpoint_id, c.direction, c.transport_type, self.name, False) for c in dead_connections]
 
-    ## Get the stats for this topic (API stub)
-    ## @param self
     def get_stats(self): # STATS
+        """Get the stats for this topic (API stub)"""
         raise Exception("subclasses must override")
 
 #  Implementation note: Subscriber attaches to a _SubscriberImpl
@@ -271,20 +289,20 @@ class Subscriber(Topic):
         these parameters differently.
 
         @param name: graph resource name of topic, e.g. 'laser'.
-        @type name: str
+        @type  name: str
         @param data_class: data type class to use for messages,
           e.g. std_msgs.msg.String
-        @type data_class: Message class
+        @type  data_class: Message class
         @param callback: function to call ( fn(data)) when data is
           received. If callback_args is set, the function must accept
           the callback_args as a second argument, i.e. fn(data,
           callback_args).  NOTE: Additional callbacks can be added using
           add_callback().
-        @type callback: str
+        @type  callback: str
         @param callback_args: additional arguments to pass to the
           callback. This is useful when you wish to reuse the same
           callback for multiple subscriptions.
-        @type callback_args: any
+        @type  callback_args: any
         @param queue_size: maximum number of messages to receive at
           a time. This will generally be 1 or None (infinite,
           default). buff_size should be increased if this parameter
@@ -292,19 +310,19 @@ class Subscriber(Topic):
           buffer before being discarded. Setting queue_size
           buff_size to a non-default value affects all subscribers to
           this topic in this process.
-        @type queue_size: int
+        @type  queue_size: int
         @param buff_size: incoming message buffer size in bytes. If
           queue_size is set, this should be set to a number greater
           than the queue_size times the average message size. Setting
           buff_size to a non-default value affects all subscribers to
           this topic in this process.
-        @type buff_size: int
+        @type  buff_size: int
         @param tcp_nodelay: if True, request TCP_NODELAY from
           publisher.  Use of this option is not generally recommended
           in most cases as it is better to rely on timestamps in
           message data. Setting tcp_nodelay to True enables TCP_NODELAY
           for all subscribers in the same python process.
-        @type tcp_nodelay: bool
+        @type  tcp_nodelay: bool
         @raise ROSException: if parameters are invalid
         """
         super(Subscriber, self).__init__(name, data_class, Registration.SUB)
@@ -322,16 +340,19 @@ class Subscriber(Topic):
         if tcp_nodelay:
             self.impl.set_tcp_nodelay(tcp_nodelay)        
 
-## _Topic*Impl classes manage the underlying connections for a given topic. The
-#  separation of the _Topic*Impl classes and the Topic* classes that a client
-#  instantiates allows the client to generate multiple Topic* instances for a given
-#  topic. It also hides the underlying API for managing the connections.
 class _SubscriberImpl(_TopicImpl):
+    """
+    Underyling L{_TopicImpl} implementation for subscriptions.
+    """
 
-    ## @param self    
-    ## @param name str: graph resource name of topic, e.g. 'laser'. 
-    #  @param data_class Message: Message data class
     def __init__(self, name, data_class):
+        """
+        ctor.
+        @param name: graph resource name of topic, e.g. 'laser'.
+        @type  name: str
+        @param data_class: Message data class
+        @type  data_class: Message
+        """
         super(_SubscriberImpl, self).__init__(name, data_class)
         # client-methods to invoke on new messages. should only modify
         # under lock. This is a list of 2-tuples (fn, args), where
@@ -341,17 +362,22 @@ class _SubscriberImpl(_TopicImpl):
         self.buff_size = DEFAULT_BUFF_SIZE
         self.tcp_nodelay = False
 
-    ## Set the value of TCP_NODELAY, which causes the Nagle algorithm
-    ## to be disabled for future topic connections, if the publisher
-    ## supports it.
     def set_tcp_nodelay(self, tcp_nodelay):
+        """
+        Set the value of TCP_NODELAY, which causes the Nagle algorithm
+        to be disabled for future topic connections, if the publisher
+        supports it.
+        """
         self.tcp_nodelay = tcp_nodelay
         
-    ## Set the receive queue size. If more than queue_size messages are waiting to be deserialized,
-    ## they are discarded.
-    ## @param self
-    ## @param queue_size int: incoming queue size. Must be positive integer or None.
     def set_queue_size(self, queue_size):
+        """
+        Set the receive queue size. If more than queue_size messages
+        are waiting to be deserialized, they are discarded.
+        
+        @param queue_size int: incoming queue size. Must be positive integer or None.
+        @type  queue_size: int
+        """
         if queue_size == -1:
             self.queue_size = None
         elif queue_size == 0:
@@ -361,22 +387,28 @@ class _SubscriberImpl(_TopicImpl):
         else:
             self.queue_size = queue_size
 
-    ## Set the receive buffer size. The exact meaning of this is
-    ## transport dependent.
-    ## @param self
-    ## @param buff_size int: receive buffer size
     def set_buff_size(self, buff_size):
+        """
+        Set the receive buffer size. The exact meaning of this is
+        transport dependent.
+        @param buff_size: receive buffer size
+        @type  buff_size: int
+        """
         if type(buff_size) != int:
             raise ROSException("buffer size must be an integer")
         elif buff_size <= 0:
             raise ROSException("buffer size must be a positive integer")
         self.buff_size = buff_size
         
-    ## Get the stats for this topic subscriber
-    ## @param self
-    ## @return list: stats for topic in getBusStats() publisher format (topicName, connStats),
-    ##   where connStats = [connectionId, bytesReceived, numSent, dropEstimate, connected]*
     def get_stats(self): # STATS
+        """
+        Get the stats for this topic subscriber
+        @return: stats for topic in getBusStats() publisher format::
+           (topicName, connStats)
+        where connStats is::
+           [connectionId, bytesReceived, numSent, dropEstimate, connected]*
+        @rtype: list
+        """
         # save reference to avoid locking
         conn = self.connections
         dead_conn = self.dead_connections        
@@ -386,13 +418,16 @@ class _SubscriberImpl(_TopicImpl):
                   for c in chain(conn, dead_conn)] )
         return stats
 
-    ## Register a callback to be invoked whenever a new message is received
-    ## @param self
-    ## @param cb fn(msg): callback function to invoke with message data
-    ##   instance, i.e. fn(data). If callback args is set, they will be passed
-    ##   in as the second argument.
-    ## @param cb_cargs Any: additional arguments to pass to callback
     def add_callback(self, cb, cb_args):
+        """
+        Register a callback to be invoked whenever a new message is received
+        @param cb: callback function to invoke with message data
+          instance, i.e. fn(data). If callback args is set, they will
+          be passed in as the second argument.
+        @type  cb: fn(msg)
+        @param cb_cargs: additional arguments to pass to callback
+        @type  cb_cargs: Any
+        """
         with self.c_lock:
             # we lock in order to serialize calls to add_callback, but
             # we copy self.callbacks so we can it
@@ -400,10 +435,12 @@ class _SubscriberImpl(_TopicImpl):
             new_callbacks.append((cb, cb_args))
             self.callbacks = new_callbacks
         
-    ## Called by underlying connection transport for each new message received
-    ## @param self
-    ## @param msgs [Message]: message data
     def receive_callback(self, msgs):
+        """
+        Called by underlying connection transport for each new message received
+        @param msgs: message data
+        @type msgs: [Message]
+        """
         # save reference to avoid lock
         callbacks = self.callbacks
         for msg in msgs:
@@ -429,13 +466,13 @@ class SubscribeListener(object):
         """
         callback when a peer has subscribed from a topic
         @param topic_name: topic name. NOTE: topic name will be resolved/remapped
-        @type topic_name: str
+        @type  topic_name: str
         @param topic_publish: method to publish message data to all subscribers
-        @type topic_publish: fn(data)
+        @type  topic_publish: fn(data)
         @param peer_publish: method to publish message data to
           new subscriber.  NOTE: behavior for the latter is
           transport-dependent as some transports may be broadcast only.
-        @type peer_publish: fn(data)
+        @type  peer_publish: fn(data)
         """
         pass
 
@@ -443,9 +480,9 @@ class SubscribeListener(object):
         """
         callback when a peer has unsubscribed from a topic
         @param topic_name: topic name. NOTE: topic name will be resolved/remapped
-        @type topic_name: str
+        @type  topic_name: str
         @param num_peers: number of remaining peers subscribed to topic
-        @type num_peers: int
+        @type  num_peers: int
         """
         pass
 
@@ -464,20 +501,20 @@ class Publisher(Topic):
         """
         Constructor
         @param name: resource name of topic, e.g. 'laser'. 
-        @type name: str
+        @type  name: str
         @param data_class: message class for serialization
-        @type data_class: Message class
+        @type  data_class: Message class
         @param subscriber_listener: listener for
           subscription events. May be None.
-        @type subscriber_listener: L{SubscribeListener}
+        @type  subscriber_listener: L{SubscribeListener}
         @param tcp_nodelay: If True, sets TCP_NODELAY on
           publisher's socket (disables Nagle algorithm). This results
           in lower latency publishing at the cost of efficiency.
-        @type tcp_nodelay: bool
+        @type  tcp_nodelay: bool
         @param latch: If True, the last message published is
         'latched', meaning that any future subscribers will be sent
         that message immediately upon connection.
-        @type latch: bool
+        @type  latch: bool
         @raise ROSException: if parameters are invalid     
         """
         super(Publisher, self).__init__(name, data_class, Registration.PUB)
@@ -535,18 +572,15 @@ def args_kwds_to_message(data_class, args, kwds):
 
 class _PublisherImpl(_TopicImpl):
     """
-    _PublisherImpl classes manage the underlying connections for a given topic. The
-    separation of the _PublisherImpl classes and the L{Publisher} class that a client
-    instantiates allows the client to generate multiple L{Publisher} instances for a given
-    topic. It also hides the underlying API for managing the connections.
+    Underyling L{_TopicImpl} implementation for publishers.
     """
     
     def __init__(self, name, data_class):
         """
         @param name: name of topic, e.g. 'laser'. 
-        @type name: str
+        @type  name: str
         @param data_class: Message data class    
-        @type data_class: Message
+        @type  data_class: Message
         """
         super(_PublisherImpl, self).__init__(name, data_class)
         self.buff = cStringIO.StringIO()
@@ -568,7 +602,7 @@ class _PublisherImpl(_TopicImpl):
         Add connection headers to this Topic for future connections.
         @param headers: key/values will be added to current connection
         header set, overriding any existing keys if they conflict.
-        @type headers: dict
+        @type  headers: dict
         """
         self.headers.update(headers)
     
@@ -598,7 +632,7 @@ class _PublisherImpl(_TopicImpl):
         """
         Add a L{SubscribeListener} for subscribe events.
         @param l: listener instance
-        @type l: L{SubscribeListener}
+        @type  l: L{SubscribeListener}
         """
         self.subscriber_listeners.append(l)
         
@@ -616,7 +650,7 @@ class _PublisherImpl(_TopicImpl):
         the latch is enabled, c will be sent a the value of the
         latch.
         @param c: connection instance
-        @type c: L{Transport}
+        @type  c: L{Transport}
         @return: True if connection was added
         @rtype: bool
         """
@@ -634,7 +668,7 @@ class _PublisherImpl(_TopicImpl):
         """
         Remove existing connection from this topic.
         @param c: connection instance to remove
-        @type c: L{Transport}
+        @type  c: L{Transport}
         """
         super(_PublisherImpl, self).remove_connection(c)
         num = len(self.connections)                
@@ -649,9 +683,9 @@ class _PublisherImpl(_TopicImpl):
         ensure proper message publish ordering.
 
         @param message: message data instance to publish
-        @type message: L{Message}
+        @type  message: L{Message}
         @param connection_override: publish to this connection instead of all
-        @type connection_override: L{Transport}
+        @type  connection_override: L{Transport}
         @return: True if the data was published, False otherwise.
         @rtype: bool
         @raise roslib.message.SerializationError: if Message instance is unable to serialize itself
@@ -763,11 +797,11 @@ class _TopicManager(object):
         """
         Add L{_TopicImpl} instance to map
         @param ps: a pub/sub impl instance
-        @type ps: L{_TopicImpl}
+        @type  ps: L{_TopicImpl}
         @param map: { topic: _TopicImpl} map to record instance in
-        @type map: dict
+        @type  map: dict
         @param reg_type: L{rospy.registration.Registration.PUB} or L{rospy.registration.Registration.SUB}
-        @type reg_type: str
+        @type  reg_type: str
         """
         topic = ps.name
         logger.debug("tm._add: %s, %s, %s", topic, ps.type, reg_type)
@@ -791,11 +825,11 @@ class _TopicManager(object):
         """
         Remove L{_TopicImpl} instance from map
         @param ps: a pub/sub impl instance
-        @type ps: L{_TopicImpl}
+        @type  ps: L{_TopicImpl}
         @param map: topic->_TopicImpl map to remove instance in
-        @type map: dict
+        @type  map: dict
         @param reg_type: L{rospy.registration.Registration.PUB} or L{rospy.registration.Registration.SUB}
-        @type reg_type: str
+        @type  reg_type: str
         """
         topic = ps.name
         logger.debug("tm._remove: %s, %s, %s", topic, ps.type, reg_type)
@@ -816,9 +850,9 @@ class _TopicManager(object):
         testing purposes. Unlike acquire_impl, it does not alter the
         ref count.
         @param topic: Topic name
-        @type topic: str
+        @type  topic: str
         @param reg_type: L{rospy.registration.Registration.PUB} or L{rospy.registration.Registration.SUB}
-        @type reg_type: str
+        @type  reg_type: str
         """
         if reg_type == Registration.PUB:
             map = self.pubs
@@ -837,11 +871,11 @@ class _TopicManager(object):
         topic implementation marks that another Topic instance is
         using the TopicImpl.
         @param topic: Topic name
-        @type topic: str
+        @type  topic: str
         @param reg_type: L{rospy.registration.Registration.PUB} or L{rospy.registration.Registration.SUB}
-        @type reg_type: str
+        @type  reg_type: str
         @param data_class: message class for topic
-        @type data_class: Message Class
+        @type  data_class: Message Class
         """
         if reg_type == Registration.PUB:
             map = self.pubs
@@ -873,9 +907,9 @@ class _TopicManager(object):
         TopicImpl.
 
         @param topic: Topic name
-        @type topic: str
+        @type  topic: str
         @param reg_type: L{rospy.registration.Registration.PUB} or L{rospy.registration.Registration.SUB}
-        @type reg_type: str
+        @type  reg_type: str
         """
         if reg_type == Registration.PUB:
             map = self.pubs
@@ -898,7 +932,7 @@ class _TopicManager(object):
     def get_publisher_impl(self, topic):
         """
         @param topic: topic name
-        @type topic: str
+        @type  topic: str
         @return: list of L{_PublisherImpl}s
         @rtype: [L{_PublisherImpl}]
         """
@@ -907,7 +941,7 @@ class _TopicManager(object):
     def get_subscriber_impl(self, topic):
         """
         @param topic: topic name
-        @type topic: str
+        @type  topic: str
         @return: subscriber for the specified topic. 
         @rtype: L{_SubscriberImpl}
         """        
@@ -916,7 +950,7 @@ class _TopicManager(object):
     def has_subscription(self, topic):
         """
         @param topic: topic name
-        @type topic: str
+        @type  topic: str
         @return: True if manager has subscription for specified topic
         @rtype: bool
         """                
diff --git a/core/rospy/src/rospy/zenmaster.py b/core/rospy/src/rospy/zenmaster.py
index 00753555..57a37e0b 100644
--- a/core/rospy/src/rospy/zenmaster.py
+++ b/core/rospy/src/rospy/zenmaster.py
@@ -33,6 +33,8 @@
 # Copyright (c) 2008, Willow Garage, Inc.
 # Revision $Id$
 
+"""Command-line handler for ROS zenmaster (Python Master)"""
+
 import getopt
 import logging
 import os
@@ -42,8 +44,6 @@ import time
 
 import rospy
 
-"""Command-line handler for ROS zenmaster (Python Master)"""
-
 # Environment variables used to configure master/slave
 
 from roslib.rosenv import ROS_ROOT, ROS_MASTER_URI, ROS_HOSTNAME, ROS_NAMESPACE, ROS_PACKAGE_PATH, ROS_LOG_DIR