diff --git a/.github/workflows/doxygen-doc.yml b/.github/workflows/doxygen-doc.yml
index 1f68dcf..d035877 100644
--- a/.github/workflows/doxygen-doc.yml
+++ b/.github/workflows/doxygen-doc.yml
@@ -1,4 +1,4 @@
-name: Generate and Deploy Doxygen for C++ and Python Code
+name: Doxygen Deployment
 
 on:
   push:
@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Generate Doxygen for C++
         uses: mattnotmitt/doxygen-action@v1
diff --git a/README.md b/README.md
index 8daa64b..3b995bd 100644
--- a/README.md
+++ b/README.md
@@ -10,14 +10,14 @@ YASMIN is a project focused on implementing robot behaviors using Finite State M
 
 <div align="center">
 
-| ROS 2 Distro |                             Branch                             |                                                                                                             Build status                                                                                                              |                                                               Docker Image                                                                |
-| :----------: | :------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: |
-|   **Foxy**   | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |       [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml?branch=main)       |     [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy)     |
-| **Galatic**  | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) |
-|  **Humble**  | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |    [![Humble Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml?branch=main)    |   [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble)   |
-|   **Iron**   | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |       [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml?branch=main)       |     [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron)     |
-|  **Jazzy**   | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |     [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml?branch=main)      |    [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy)    |
-| **Rolling**  | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |  [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml?branch=main)   |  [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling)  |
+| ROS 2 Distro |                             Branch                             |                                                                                                             Build status                                                                                                              |                                                               Docker Image                                                                | Documentation                                                                                                                                                                                     |
+| :----------: | :------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+|   **Foxy**   | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |       [![Foxy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/foxy-docker-build.yml?branch=main)       |     [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-foxy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=foxy)     | [![Doxygen Doc Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml/badge.svg)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml) |
+| **Galatic**  | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) | [![Galactic Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/galactic-docker-build.yml?branch=main) | [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-galactic-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=galactic) | [![Doxygen Doc Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml/badge.svg)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml) |
+|  **Humble**  | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |    [![Humble Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/humble-docker-build.yml?branch=main)    |   [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-humble-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=humble)   | [![Doxygen Doc Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml/badge.svg)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml) |
+|   **Iron**   | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |       [![Iron Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/iron-docker-build.yml?branch=main)       |     [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-iron-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=iron)     | [![Doxygen Doc Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml/badge.svg)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml) |
+|  **Jazzy**   | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |     [![Jazzy Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/jazzy-docker-build.yml?branch=main)      |    [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-jazzy-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=jazzy)    | [![Doxygen Doc Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml/badge.svg)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml) |
+| **Rolling**  | [`main`](https://github.com/uleroboticsgroup/yasmin/tree/main) |  [![Rolling Build](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml/badge.svg?branch=main)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/rolling-docker-build.yml?branch=main)   |  [![Docker Image](https://img.shields.io/badge/Docker%20Image%20-rolling-blue)](https://hub.docker.com/r/mgons/yasmin/tags?name=rolling)  | [![Doxygen Doc Deployment](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml/badge.svg)](https://github.com/uleroboticsgroup/yasmin/actions/workflows/doxygen-doc.yml) |
 
 </div>