diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
index d1df065abc1e9b4fd35d77eab7949f84b0ba61fb..ac8a095715ceb1dafefa7f7a0385855cea14c86a 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
@@ -44,7 +44,32 @@ namespace armarx
      * @endcode
      *
      * The `DebugDrawerTopic` allows to set a layer on constructor or via
-     * `setLayer()`. This layer will be used if none is passed to a drawing method.
+     * `setLayer()`. This layer will be used if none is passed to a drawing 
+     * method. If no layer is passed or set, `DebugDrawerTopic::DEFAULT_LAYER`
+     * is used.
+     *
+     *
+     * @par Initialisation by Offering and Getting Topic
+     *
+     * A `DebugDrawerTopic` needs an underlying `DebugDrawerInterfacePrx` topic proxy.
+     * This proxy can be passed on construction or set via `setTopic()`.
+     * In a component (or any other `ManagedIceObject`), `DebugDrawerTopic`
+     * provides convenience functions to register and fetch the topics.
+     *
+     * In `onInitComponent()` (or equivalent method), call:
+     * @code
+     * debugDrawer.offeringTopic(*this);
+     * @endcode
+     * In `onConnectComponent()` (or equivalent), call:
+     * @code
+     * debugDrawer.getTopic(*this);
+     * @endcode
+     * where `*this` is a `ManagedIceObject`.
+     *
+     * This will call `this->offeringTopic("...")` and `this->getTopic("...")`
+     * with the correct topic name (`DebugDrawerTopic::TOPIC_NAME`) and
+     * enable the `DebugDrawerTopic`.
+     *
      *
      * @par Scaling
      *