diff --git a/rosbag2_compression/Doxyfile b/rosbag2_compression/Doxyfile
new file mode 100644
index 0000000000..28597fecfe
--- /dev/null
+++ b/rosbag2_compression/Doxyfile
@@ -0,0 +1,20 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rosbag2_compression"
+PROJECT_NUMBER         = rolling
+PROJECT_BRIEF          = "Compression implementations for rosbag2 bags and messages"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = ROSBAG2_TRANSPORT_PUBLIC=
\ No newline at end of file
diff --git a/rosbag2_compression_zstd/Doxyfile b/rosbag2_compression_zstd/Doxyfile
new file mode 100644
index 0000000000..03cd600b7f
--- /dev/null
+++ b/rosbag2_compression_zstd/Doxyfile
@@ -0,0 +1,20 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rosbag2_compression_zstd"
+PROJECT_NUMBER         = rolling
+PROJECT_BRIEF          = "Zstandard compression library implementation of rosbag2_compression"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = ROSBAG2_TRANSPORT_PUBLIC=
\ No newline at end of file
diff --git a/rosbag2_cpp/Doxyfile b/rosbag2_cpp/Doxyfile
new file mode 100644
index 0000000000..1153a33366
--- /dev/null
+++ b/rosbag2_cpp/Doxyfile
@@ -0,0 +1,20 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rosbag2_cpp"
+PROJECT_NUMBER         = rolling
+PROJECT_BRIEF          = "C++ ROSBag2 client library"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = ROSBAG2_TRANSPORT_PUBLIC=
\ No newline at end of file
diff --git a/rosbag2_storage/Doxyfile b/rosbag2_storage/Doxyfile
new file mode 100644
index 0000000000..7a5eb2ea18
--- /dev/null
+++ b/rosbag2_storage/Doxyfile
@@ -0,0 +1,20 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rosbag2_storage"
+PROJECT_NUMBER         = rolling
+PROJECT_BRIEF          = "ROS2 independent storage format to store serialized ROS2 messages"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = ROSBAG2_TRANSPORT_PUBLIC=
\ No newline at end of file
diff --git a/rosbag2_storage_mcap/Doxyfile b/rosbag2_storage_mcap/Doxyfile
new file mode 100644
index 0000000000..0231f32726
--- /dev/null
+++ b/rosbag2_storage_mcap/Doxyfile
@@ -0,0 +1,20 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rosbag2_storage_mcap"
+PROJECT_NUMBER         = rolling
+PROJECT_BRIEF          = "rosbag2 storage plugin using the MCAP file format"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = ROSBAG2_TRANSPORT_PUBLIC=
\ No newline at end of file
diff --git a/rosbag2_storage_sqlite3/Doxyfile b/rosbag2_storage_sqlite3/Doxyfile
new file mode 100644
index 0000000000..616caa6344
--- /dev/null
+++ b/rosbag2_storage_sqlite3/Doxyfile
@@ -0,0 +1,20 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rosbag2_storage_sqlite3"
+PROJECT_NUMBER         = rolling
+PROJECT_BRIEF          = "ROSBag2 SQLite3 storage plugin"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = ROSBAG2_TRANSPORT_PUBLIC=
\ No newline at end of file
diff --git a/rosbag2_transport/Doxyfile b/rosbag2_transport/Doxyfile
new file mode 100644
index 0000000000..ec020d9dbe
--- /dev/null
+++ b/rosbag2_transport/Doxyfile
@@ -0,0 +1,20 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rosbag2_transport"
+PROJECT_NUMBER         = rolling
+PROJECT_BRIEF          = "Layer encapsulating ROS middleware to allow rosbag2 to be used with or without middleware"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = ROSBAG2_TRANSPORT_PUBLIC=
\ No newline at end of file