diff --git a/ros2_controllers/doc/index.rst b/ros2_controllers/doc/index.rst
index 99ee7d909d..f785112944 100644
--- a/ros2_controllers/doc/index.rst
+++ b/ros2_controllers/doc/index.rst
@@ -7,56 +7,74 @@ For more information of the ros2_control framework see `control.ros.org <https:/
   :header-rows: 1
 
   * - Package Name
+    - Documentation
     - API
     - ROS Index
   * - ackermann_steering_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/ackermann_steering_controller/>`__
     - `ROS Index <https://index.ros.org/p/ackermann_steering_controller/>`__
   * - admittance_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/admittance_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/admittance_controller/>`__
     - `ROS Index <https://index.ros.org/p/admittance_controller/>`__
   * - bicycle_steering_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/bicycle_steering_controller/>`__
     - `ROS Index <https://index.ros.org/p/bicycle_steering_controller/>`__
   * - diff_drive_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/diff_drive_controller/>`__
     - `ROS Index <https://index.ros.org/p/diff_drive_controller/>`__
   * - effort_controllers
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/effort_controllers/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/effort_controllers/>`__
     - `ROS Index <https://index.ros.org/p/effort_controllers/>`__
   * - force_torque_sensor_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/force_torque_sensor_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/force_torque_sensor_broadcaster/>`__
   * - forward_command_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/forward_command_controller/>`__
     - `ROS Index <https://index.ros.org/p/forward_command_controller/>`__
   * - imu_sensor_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/imu_sensor_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/imu_sensor_broadcaster/>`__
   * - joint_state_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/joint_state_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/joint_state_broadcaster/>`__
   * - joint_trajectory_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/joint_trajectory_controller/>`__
     - `ROS Index <https://index.ros.org/p/joint_trajectory_controller/>`__
   * - pid_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/pid_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/pid_controller/>`__
     - `ROS Index <https://index.ros.org/p/pid_controller/>`__
   * - position_controllers
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/position_controllers/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/position_controllers/>`__
     - `ROS Index <https://index.ros.org/p/position_controllers/>`__
   * - range_sensor_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/range_sensor_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/range_sensor_broadcaster/>`__
   * - steering_controllers_library
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/steering_controllers_library/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/steering_controllers_library/>`__
     - `ROS Index <https://index.ros.org/p/steering_controllers_library/>`__
   * - tricycle_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/tricycle_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/tricycle_controller/>`__
     - `ROS Index <https://index.ros.org/p/tricycle_controller/>`__
   * - tricycle_steering_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/tricycle_steering_controller/>`__
     - `ROS Index <https://index.ros.org/p/tricycle_steering_controller/>`__
   * - velocity_controllers
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/velocity_controllers/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/velocity_controllers/>`__
     - `ROS Index <https://index.ros.org/p/velocity_controllers/>`__