diff --git a/ros2autodoc/api/__init__.py b/ros2autodoc/api/__init__.py
index 56d5b30..d64efa0 100644
--- a/ros2autodoc/api/__init__.py
+++ b/ros2autodoc/api/__init__.py
@@ -47,12 +47,12 @@ def get_nodes(package_name):
     return nodes
 
 
-def document_node(node, package_name, node_name, path, file_name="/README.md"):
+def document_node(node, package_name, node_name, file_path):
     """Document the given node."""
     interface_collector = NodeInterfaceCollector(node, node_name)
     node_interface = interface_collector.get_interfaces()
     writer = DocWriter(package_name, node_name, node_interface)
-    writer.write(path + file_name)
+    writer.write(file_path)
 
 
 def check_node_documentation(node, node_name, file_path):
diff --git a/ros2autodoc/api/node_interface_collector.py b/ros2autodoc/api/node_interface_collector.py
index a803652..959add6 100644
--- a/ros2autodoc/api/node_interface_collector.py
+++ b/ros2autodoc/api/node_interface_collector.py
@@ -57,61 +57,66 @@ def get_interfaces(self):
     def _query_interfaces(self):
         # Parameters
         param_names, params_map, desciption_map = self._get_parameters()
-        if len(param_names) > 0:
-            for param in param_names:
-                if param not in PARAMS_TO_IGNORE:
-                    param_type = params_map[param]
-                    param_description = desciption_map[param]
-                    if not param_description:
-                        param_description = TODO
-                    self.interfaces["parameters"][param] = {
-                        "type": param_type,
-                        "description": param_description,
-                    }
+        if param_names:
+            self._add_parameter_info(param_names, params_map, desciption_map)
+
         # Subscribers
         subscribers = get_subscriber_info(
             node=self.node, remote_node_name=self.node_name, include_hidden=False
         )
-        if len(subscribers) > 0:
-            for sub in subscribers:
-                if sub.name not in SUBSCRIBERS_TO_IGNORE:
-                    self.interfaces["subscribers"][sub.name] = {
-                        "type": ", ".join(sub.types),
-                        "description": TODO,
-                    }
+        if subscribers:
+            self._add_interface_info(
+                self.interfaces["subscribers"], subscribers, SUBSCRIBERS_TO_IGNORE
+            )
+
         # Publishers
         publishers = get_publisher_info(
             node=self.node, remote_node_name=self.node_name, include_hidden=False
         )
-        if len(publishers) > 0:
-            for pub in publishers:
-                if pub.name not in PUBLISHERS_TO_IGNORE:
-                    self.interfaces["publishers"][pub.name] = {
-                        "type": ", ".join(pub.types),
-                        "description": TODO,
-                    }
+        if publishers:
+            self._add_interface_info(
+                self.interfaces["publishers"], publishers, PUBLISHERS_TO_IGNORE
+            )
+
         # Services
         service_servers = get_service_server_info(
             node=self.node, remote_node_name=self.node_name, include_hidden=False
         )
-        if len(service_servers) > 0:
-            for srv in service_servers:
-                if not self._ignore_service(self.node_name, srv.name):
-                    self.interfaces["services"][srv.name] = {
-                        "type": ", ".join(srv.types),
-                        "description": TODO,
-                    }
+        if service_servers:
+            filtered_services = [
+                srv
+                for srv in service_servers
+                if not self._ignore_service(self.node_name, srv.name)
+            ]
+            self._add_interface_info(self.interfaces["services"], filtered_services, [])
+
         # Actions
         actions_servers = get_action_server_info(
             node=self.node, remote_node_name=self.node_name, include_hidden=False
         )
-        if len(actions_servers) > 0:
-            for action in actions_servers:
-                self.interfaces["actions"][action.name] = {
-                    "type": ", ".join(action.types),
+        if actions_servers:
+            self._add_interface_info(self.interfaces["actions"], actions_servers, [])
+
+    def _add_interface_info(self, interface_dict, items, ignore_list):
+        for item in items:
+            if item.name not in ignore_list:
+                interface_dict[item.name] = {
+                    "type": ", ".join(item.types),
                     "description": TODO,
                 }
 
+    def _add_parameter_info(self, param_names, params_map, desciption_map):
+        for param in param_names:
+            if param not in PARAMS_TO_IGNORE:
+                param_type = params_map[param]
+                param_description = desciption_map[param]
+                if not param_description:
+                    param_description = TODO
+                self.interfaces["parameters"][param] = {
+                    "type": param_type,
+                    "description": param_description,
+                }
+
     def _get_parameters(self):
         name_to_type_map = {}
         name_to_description_map = {}
diff --git a/ros2autodoc/verb/generate.py b/ros2autodoc/verb/generate.py
index bf3750d..685791a 100644
--- a/ros2autodoc/verb/generate.py
+++ b/ros2autodoc/verb/generate.py
@@ -42,6 +42,9 @@ def main(self, *, args):
         if args.package_name and not check_for_package(args.package_name):
             return f"Package '{args.package_name}' could not be found."
 
+        # Ensure no trailing slash
+        args.output_dir = args.output_dir.rstrip("/")
+
         with NodeStrategy(args) as node:
             for node_name in args.nodes:
                 if not check_for_node(node, f"/{node_name}"):
@@ -49,7 +52,12 @@ def main(self, *, args):
                     continue
                 if args.seperate_files:
                     document_node(
-                        node, None, node_name, args.output_dir, f"/{node_name}.md"
+                        node, None, node_name, f"{args.output_dir}/{node_name}.md"
                     )
                 else:
-                    document_node(node, args.package_name, node_name, args.output_dir)
+                    document_node(
+                        node,
+                        args.package_name,
+                        node_name,
+                        f"{args.output_dir}/README.md",
+                    )