diff --git a/msg/templates/urtps/microRTPS_timesync.h.em b/msg/templates/urtps/microRTPS_timesync.h.em
index bff86b9f85c..ac5bb21ebc6 100644
--- a/msg/templates/urtps/microRTPS_timesync.h.em
+++ b/msg/templates/urtps/microRTPS_timesync.h.em
@@ -141,8 +141,22 @@ public:
 @[    end if]@
 @[end if]@
 
+        /**
+         * @brief Get the time sync offset in nanoseconds
+         * @return The offset in nanosecods
+         */
 	inline int64_t getOffset() { return _offset_ns.load(); }
+
+        /**
+         * @brief Sums the time sync offset to the timestamp
+         * @param[in,out] timestamp The timestamp to add the offset to
+         */
 	inline void addOffset(uint64_t& timestamp) { timestamp = (timestamp * 1000LL + _offset_ns.load()) / 1000ULL; }
+
+        /**
+         * @brief Substracts the time sync offset to the timestamp
+         * @param[in,out] timestamp The timestamp to subtract the offset of
+         */
 	inline void subtractOffset(uint64_t& timestamp) { timestamp = (timestamp * 1000LL - _offset_ns.load()) / 1000ULL; }
 
 private:
@@ -165,5 +179,9 @@ private:
 	std::unique_ptr<std::thread> _send_timesync_thread;
 	std::atomic<bool> _request_stop{false};
 
+        /**
+         * @brief Updates the offset of the time sync filter
+         * @param[in] offset The value of the offset to update to
+         */
 	inline void updateOffset(const uint64_t& offset) { _offset_ns.store(offset, std::memory_order_relaxed); }
 };