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diff --git a/aztarna/ros/ros/helpers.py b/aztarna/ros/ros/helpers.py
@@ -1,6 +1,10 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
+"""
+ROS Scanner helper module.
 
+:author: Gorka Olalde Mendia(@olaldiko), Xabier Perez Baskaran(@xabierpb)
+"""
 from aztarna.ros.commons import BaseNodeROS, BaseNodeROS, BaseServiceROS, BaseHostROS
 
 class ROSHost(BaseHostROS):

diff --git a/aztarna/ros/ros/scanner.py b/aztarna/ros/ros/scanner.py
@@ -1,6 +1,10 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
+"""
+ROS Scanner module.
 
+:author: Gorka Olalde Mendia(@olaldiko), Xabier Perez Baskaran(@xabierpb)
+"""
 import asyncio
 import aiohttp
 import logging

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diff --git a/docs/_build/html/_modules/aztarna/ros/ros/helpers.html b/docs/_build/html/_modules/aztarna/ros/ros/helpers.html
@@ -0,0 +1,271 @@
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+  <h1>Source code for aztarna.ros.ros.helpers</h1><div class="highlight"><pre>
+<span></span><span class="ch">#!/usr/bin/env python</span>
+<span class="c1"># -*- coding: utf-8 -*-</span>
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">ROS Scanner helper module.</span>
+
+<span class="sd">:author: Gorka Olalde Mendia(@olaldiko), Xabier Perez Baskaran(@xabierpb)</span>
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="kn">from</span> <span class="nn">aztarna.ros.commons</span> <span class="k">import</span> <span class="n">BaseNodeROS</span><span class="p">,</span> <span class="n">BaseNodeROS</span><span class="p">,</span> <span class="n">BaseServiceROS</span><span class="p">,</span> <span class="n">BaseHostROS</span>
+
+<div class="viewcode-block" id="ROSHost"><a class="viewcode-back" href="../../../../aztarna.ros.html#aztarna.ros.ros.helpers.ROSHost">[docs]</a><span class="k">class</span> <span class="nc">ROSHost</span><span class="p">(</span><span class="n">BaseHostROS</span><span class="p">):</span>
+    <span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Class for keeping all the attributes of a ROS Node.Extends:class:`aztarna.commons.BaseHostROS`</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">address</span><span class="p">,</span> <span class="n">port</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">address</span> <span class="o">=</span> <span class="n">address</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">port</span> <span class="o">=</span> <span class="n">port</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">communications</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">services</span> <span class="o">=</span> <span class="p">[]</span>
+
+    <span class="k">def</span> <span class="nf">__repr__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">nodes</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">return</span> <span class="s2">&quot;Address: </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">address</span><span class="p">)</span>
+        <span class="k">return</span> <span class="s2">&quot;Address: </span><span class="si">{}</span><span class="s2">, Nodes: </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">address</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">nodes</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Node"><a class="viewcode-back" href="../../../../aztarna.ros.html#aztarna.ros.ros.helpers.Node">[docs]</a><span class="k">class</span> <span class="nc">Node</span><span class="p">(</span><span class="n">BaseNodeROS</span><span class="p">):</span>
+    <span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Node class, an extension of the BaseNodeROS</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">name</span> <span class="o">=</span> <span class="n">name</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">published_topics</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">subscribed_topics</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">services</span> <span class="o">=</span> <span class="p">[]</span>
+
+    <span class="k">def</span> <span class="nf">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">return</span> <span class="s1">&#39;</span><span class="si">{}</span><span class="s1"> XMLRPCUri: http://</span><span class="si">{}</span><span class="s1">:</span><span class="si">{}</span><span class="s1">&#39;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">address</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">port</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Topic"><a class="viewcode-back" href="../../../../aztarna.ros.html#aztarna.ros.ros.helpers.Topic">[docs]</a><span class="k">class</span> <span class="nc">Topic</span><span class="p">(</span><span class="n">BaseNodeROS</span><span class="p">):</span>
+    <span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Topic class, an extension of BaseNodeROS</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">topic_type</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">name</span> <span class="o">=</span> <span class="n">name</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">type</span> <span class="o">=</span> <span class="n">topic_type</span>
+
+    <span class="k">def</span> <span class="nf">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">name</span> <span class="o">+</span> <span class="s1">&#39;(Type: &#39;</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">type</span> <span class="o">+</span> <span class="s1">&#39;)&#39;</span></div>
+
+<div class="viewcode-block" id="Service"><a class="viewcode-back" href="../../../../aztarna.ros.html#aztarna.ros.ros.helpers.Service">[docs]</a><span class="k">class</span> <span class="nc">Service</span><span class="p">(</span><span class="n">BaseServiceROS</span><span class="p">):</span>
+    <span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Service class, an extension of BaseServiceROS</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">name</span> <span class="o">=</span> <span class="n">name</span>
+
+    <span class="k">def</span> <span class="nf">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">return</span> <span class="s1">&#39;</span><span class="si">{}</span><span class="s1">&#39;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="p">)</span></div>
+</pre></div>
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