rfid is ... In addition to providing an overview of your package, this is the section where the specification and design/architecture should be detailed. While the original specification may be done on the wiki, it should be transferred here once your package starts to take shape. You can then link to this documentation page from the Wiki.
Provide links to specific auto-generated API documentation within your package that is of particular interest to a reader. Doxygen will document pretty much every part of your code, so do your best here to point the reader to the actual API.
If your codebase is fairly large or has different sets of APIs, you should use the doxygen 'group' tag to keep these APIs together. For example, the roscpp documentation has 'libros' group so that it can be viewed separately. The rospy documentation similarly has a 'client-api' group that pulls together APIs for a Client API page.
Names are very important in ROS because they can be remapped on the command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY APPEAR IN THE CODE. You should list names of every topic, service and parameter used in your code.
List of nodes:
node_name does (provide a basic description of your node)
$ node_type1 [standard ROS args]
Reads the following parameters from the parameter server
Sets the following parameters on the parameter server
This section is a catch-all for any additional tools that your package provides or uses that may be of use to the reader. For example:
Description of what this script/file does.
$ ./script_name [args]
$ ./script_name foo bar