We've recently dived into sphinx for documenting our python ros packages
and had a whole bunch of notes on a private server. This is of not much use
to many so I just updated the outdated and somewhat sparse notes that were
previously on the ros wiki.

http://wiki.ros.org/Sphinx

If you're interested in using something a whole lot better than doxygen for
python, you might like to take a look.

Cheers,
Daniel.