diff --git a/husarion_ugv_controller/README.md b/husarion_ugv_controller/README.md
index 509a5e4e..0a7e750f 100644
--- a/husarion_ugv_controller/README.md
+++ b/husarion_ugv_controller/README.md
@@ -11,3 +11,4 @@ The package contains the default configuration and launch files necessary to sta
 - [`WH01_controller.yaml`](./config/WH01_controller.yaml): Configures `imu_broadcaster`, `joint_state_broadcaster` and `drive_controller` controllers for default WH01 wheels.
 - [`WH02_controller.yaml`](./config/WH02_controller.yaml): Configures `imu_broadcaster`, `joint_state_broadcaster` and `drive_controller` controllers for mecanum WH02 wheels.
 - [`WH04_controller.yaml`](./config/WH04_controller.yaml): Configures `imu_broadcaster`, `joint_state_broadcaster` and `drive_controller` controllers for small pneumatic WH04 wheels.
+- [`WH05_controller.yaml`](./config/WH05_controller.yaml): Configures `imu_broadcaster`, `joint_state_broadcaster` and `drive_controller` controllers for Lynx pneumatic wheels.
diff --git a/husarion_ugv_diagnostics/README.md b/husarion_ugv_diagnostics/README.md
index 02d37021..b47d4e67 100644
--- a/husarion_ugv_diagnostics/README.md
+++ b/husarion_ugv_diagnostics/README.md
@@ -23,8 +23,8 @@ Publishes the built-in computer system status , monitoring parameters as such as
 
 #### Parameters
 
-- `~cpu_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for CPU usage warning in percentage.
-- `~cpu_temperature_warn_threshold` [*float*, default: **80.0**]: Threshold for CPU temperature warning in degrees Celsius.
-- `~ram_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for memory usage warning in percentage.
-- `~disk_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for disk usage warning in percentage.
-- `~publish_frequency` [*double*, default: **5.0**]: System status publishing frequency [Hz].
+- `~/cpu_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for CPU usage warning in percentage.
+- `~/cpu_temperature_warn_threshold` [*float*, default: **80.0**]: Threshold for CPU temperature warning in degrees Celsius.
+- `~/ram_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for memory usage warning in percentage.
+- `~/disk_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for disk usage warning in percentage.
+- `~/publish_frequency` [*double*, default: **5.0**]: System status publishing frequency [Hz].
diff --git a/husarion_ugv_lights/README.md b/husarion_ugv_lights/README.md
index f53bf287..c69675e0 100644
--- a/husarion_ugv_lights/README.md
+++ b/husarion_ugv_lights/README.md
@@ -32,9 +32,9 @@ This node is of type rclcpp_components is responsible for processing animations
 
 #### Parameters
 
-- `~animations_config_path` [*string*, default: **$(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml**]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
-- `~controller_frequency` [*float*, default: **50.0**]: Frequency [Hz] at which the lights controller node will process animations.
-- `~user_led_animations_path` [*string*, default: **None**]: Path to a YAML file with a description of the user defined animations.
+- `~/animations_config_path` [*string*, default: **$(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml**]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
+- `~/controller_frequency` [*float*, default: **50.0**]: Frequency [Hz] at which the lights controller node will process animations.
+- `~/user_led_animations_path` [*string*, default: **None**]: Path to a YAML file with a description of the user defined animations.
 
 ### LightsDriverNode
 
@@ -59,7 +59,7 @@ This node is of type rclcpp_components is responsible for displaying frames on t
 
 #### Parameters
 
-- `~frame_timeout` [*float*, default: **0.1**]: Time in **[s]** after which an incoming frame will be considered too old.
-- `~global_brightness` [*float*, default: **1.0**]: LED global brightness. The range between **[0.0, 1.0]**.
-- `~channel_1_num_led` [*int*, default: **46**]: Number of LEDs in the first bumper.
-- `~channel_2_num_led` [*int*, default: **46**]: Number of LEDs in the second bumper.
+- `~/frame_timeout` [*float*, default: **0.1**]: Time in **[s]** after which an incoming frame will be considered too old.
+- `~/global_brightness` [*float*, default: **1.0**]: LED global brightness. The range between **[0.0, 1.0]**.
+- `~/channel_1_num_led` [*int*, default: **46**]: Number of LEDs in the first bumper.
+- `~/channel_2_num_led` [*int*, default: **46**]: Number of LEDs in the second bumper.