diff --git a/tf2_ros/docs/Doxyfile b/tf2_ros/doc/Doxyfile
similarity index 97%
rename from tf2_ros/docs/Doxyfile
rename to tf2_ros/doc/Doxyfile
index f63de797c..50b5cab03 100644
--- a/tf2_ros/docs/Doxyfile
+++ b/tf2_ros/doc/Doxyfile
@@ -6,7 +6,7 @@ PROJECT_BRIEF          = "This package contains the ROS bindings for the tf2 lib
 
 INPUT                  = ../include ./mainpage.dox
 RECURSIVE              = YES
-OUTPUT_DIRECTORY       = docs_output
+OUTPUT_DIRECTORY       = doc_output
 
 EXTRACT_ALL            = YES
 SORT_MEMBER_DOCS       = NO
diff --git a/tf2_ros/docs/Makefile b/tf2_ros/doc/Makefile
similarity index 100%
rename from tf2_ros/docs/Makefile
rename to tf2_ros/doc/Makefile
diff --git a/tf2_ros/docs/source/cli_tools.rst b/tf2_ros/doc/cli_tools.rst
similarity index 100%
rename from tf2_ros/docs/source/cli_tools.rst
rename to tf2_ros/doc/cli_tools.rst
diff --git a/tf2_ros/docs/source/conf.py b/tf2_ros/doc/conf.py
similarity index 95%
rename from tf2_ros/docs/source/conf.py
rename to tf2_ros/doc/conf.py
index c2fd05eba..f180edbc5 100644
--- a/tf2_ros/docs/source/conf.py
+++ b/tf2_ros/doc/conf.py
@@ -214,17 +214,17 @@
 ]
 
 # Configuration for breathe to link doxygen
-breathe_projects = {'tf2_ros': './../docs_output/tf2_ros/generated/doxygen/xml'}
-breathe_default_project = 'tf2_ros'
-
-# Exhale configuration
-exhale_args = {
-    # Required arguments
-    "containmentFolder":     "./api",
-    "rootFileName":          "index.rst",
-    "doxygenStripFromPath":  "..",
-    "rootFileTitle":         "tf2_ros API",
-    }
+# breathe_projects = {'tf2_ros': './generated/doxygen/xml'}
+# breathe_default_project = 'tf2_ros'
+#
+# # Exhale configuration
+# exhale_args = {
+#     # Required arguments
+#     "containmentFolder":     "./api",
+#     "rootFileName":          "index.rst",
+#     "doxygenStripFromPath":  ".",
+#     "rootFileTitle":         "tf2_ros API",
+#     }
 
 
 
diff --git a/tf2_ros/docs/source/images/rqt_tf_tree.png b/tf2_ros/doc/images/rqt_tf_tree.png
similarity index 100%
rename from tf2_ros/docs/source/images/rqt_tf_tree.png
rename to tf2_ros/doc/images/rqt_tf_tree.png
diff --git a/tf2_ros/docs/source/images/rviz2_screenshot.png b/tf2_ros/doc/images/rviz2_screenshot.png
similarity index 100%
rename from tf2_ros/docs/source/images/rviz2_screenshot.png
rename to tf2_ros/doc/images/rviz2_screenshot.png
diff --git a/tf2_ros/docs/source/images/view_frames.png b/tf2_ros/doc/images/view_frames.png
similarity index 100%
rename from tf2_ros/docs/source/images/view_frames.png
rename to tf2_ros/doc/images/view_frames.png
diff --git a/tf2_ros/docs/source/index.rst b/tf2_ros/doc/index.rst
similarity index 100%
rename from tf2_ros/docs/source/index.rst
rename to tf2_ros/doc/index.rst
diff --git a/tf2_ros/docs/mainpage.dox b/tf2_ros/doc/mainpage.dox
similarity index 100%
rename from tf2_ros/docs/mainpage.dox
rename to tf2_ros/doc/mainpage.dox
diff --git a/tf2_ros/docs/make.bat b/tf2_ros/doc/make.bat
similarity index 100%
rename from tf2_ros/docs/make.bat
rename to tf2_ros/doc/make.bat
diff --git a/tf2_ros/docs/source/tf2_ros2.rst b/tf2_ros/doc/tf2_ros2.rst
similarity index 100%
rename from tf2_ros/docs/source/tf2_ros2.rst
rename to tf2_ros/doc/tf2_ros2.rst