Mooxygen is a tool that scans a directory tree containing one or several MOOS modules and generates documentation about the variables that each module publishes or subscribes to, from a set of tags added to C++ comments in your code.
doxygen does for code,
mooxygen does at the framework level.
MOOS is a C++ framework for developing distributed applications, mainly focused on mobile robotics.
License: GNU General Public License 3
Help and usage: https://github.com/OpenMORA/mooxygen/wiki