diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
index b8e9f8a8ca..a2966bdb04 100644
--- a/doc/controllers_index.rst
+++ b/doc/controllers_index.rst
@@ -42,13 +42,13 @@ Controllers for Manipulators and Other Robots
    Admittance Controller <../admittance_controller/doc/userdoc.rst>
    Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
+   Gpio Command Controller <../gpio_controllers/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
+   Motion Primitive Controller <../motion_primitives_controllers/doc/userdoc.rst>
    Parallel Gripper Controller <../parallel_gripper_controller/doc/userdoc.rst>
    PID Controller <../pid_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
-   Gpio Command Controller <../gpio_controllers/doc/userdoc.rst>
-   Motion Primitive Controller <../motion_primitives_controllers/userdoc.rst>
 
 Broadcasters
 **********************
diff --git a/motion_primitives_controllers/README.md b/motion_primitives_controllers/doc/README.md
similarity index 100%
rename from motion_primitives_controllers/README.md
rename to motion_primitives_controllers/doc/README.md
diff --git a/motion_primitives_controllers/doc/userdoc.rst b/motion_primitives_controllers/doc/userdoc.rst
new file mode 100644
index 0000000000..a660df442a
--- /dev/null
+++ b/motion_primitives_controllers/doc/userdoc.rst
@@ -0,0 +1,53 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/doc/userdoc.rst
+
+.. _motion_primitives_controllers_userdoc:
+
+motion_primitive_controllers
+==========================================
+
+Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC)
+
+.. warning::
+
+ There is no guarantee that the motion defined by the motion primitive will actually be executed exactly as planned. In particular, for motions in Cartesian space such as LIN primitives, it is not necessarily ensured that the robot will execute the motion exactly in that way, since the inverse kinematics is not always unique.
+
+.. include:: README.md
+   :parser: myst_parser.sphinx_
+
+Parameters
+----------
+
+These controllers use the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle their parameters.
+
+Parameter of motion_primitives_forward_controller
+.................................................
+
+.. _definition_file_forward:
+
+The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/src/motion_primitives_forward_controller_parameter.yaml>`__ contains descriptions for all the parameters used by this controller.
+
+.. generate_parameter_library_details:: ../src/motion_primitives_forward_controller_parameter.yaml
+
+.. _test_file_forward:
+
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/test/motion_primitives_forward_controller_params.yaml>`__:
+
+.. literalinclude:: ../test/motion_primitives_forward_controller_params.yaml
+   :language: yaml
+
+
+Parameter of motion_primitives_from_trajectory_controller
+...........................................................
+
+.. _definition_file_trajectory:
+
+The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/src/motion_primitives_from_trajectory_controller_parameter.yaml>`__ contains descriptions for all the parameters used by this controller.
+
+.. generate_parameter_library_details:: ../src/motion_primitives_from_trajectory_controller_parameter.yaml
+
+.. _test_file_trajectory:
+
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/test/motion_primitives_from_trajectory_controller_params.yaml>`__:
+
+.. literalinclude:: ../test/motion_primitives_from_trajectory_controller_params.yaml
+   :language: yaml
diff --git a/motion_primitives_controllers/userdoc.rst b/motion_primitives_controllers/userdoc.rst
deleted file mode 100644
index e199afa449..0000000000
--- a/motion_primitives_controllers/userdoc.rst
+++ /dev/null
@@ -1,19 +0,0 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/userdoc.rst
-
-.. _motion_primitives_controllers_userdoc:
-
-
-.. include:: README.md
-   :parser: myst_parser.sphinx_
-
-Parameters
-,,,,,,,,,,,
-
-This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/src/motion_primitives_forward_controller_parameter.yaml>`_ contains descriptions for all the parameters used by the controller.
-
-.. generate_parameter_library_details:: src/motion_primitives_forward_controller_parameter.yaml
-
-An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/motion_primitives_controllers/test/motion_primitives_forward_controller_params.yaml>`_:
-
-.. literalinclude:: test/motion_primitives_forward_controller_params.yaml
-   :language: yaml