diff --git a/_docs/api/utils/index.md b/_docs/api/utils/index.md
index d80938dd..1cb4a3fb 100644
--- a/_docs/api/utils/index.md
+++ b/_docs/api/utils/index.md
@@ -5,3 +5,5 @@ permalink: /docs/api/utils/
 
 {% include utils_doc/Modules/group__typeutils.md %}
 {% include utils_doc/Modules/group__stringutils.md %}
+{% include utils_doc/Classes/structmicro__ros__utilities__memory__rule__t.md %}
+{% include utils_doc/Classes/structmicro__ros__utilities__memory__conf__t.md %}
\ No newline at end of file
diff --git a/_includes/utils_doc/Classes/structmicro__ros__utilities__memory__conf__t.md b/_includes/utils_doc/Classes/structmicro__ros__utilities__memory__conf__t.md
new file mode 100644
index 00000000..0992c823
--- /dev/null
+++ b/_includes/utils_doc/Classes/structmicro__ros__utilities__memory__conf__t.md
@@ -0,0 +1,69 @@
+# micro_ros_utilities_memory_conf_t
+
+Memory configuration string. 
+
+
+`#include <type_utilities.h>`
+
+## Public Attributes
+
+|                | Name           |
+| -------------- | -------------- |
+| size_t | **[max_string_capacity](#variable-max_string_capacity)** <br>Maximum string capacity to use for msg fields in case they don't have a custom rule assigned to them.  |
+| size_t | **[max_ros2_type_sequence_capacity](#variable-max_ros2_type_sequence_capacity)** <br>Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain ROS 2 msg types, in case they don't have a custom rule assigned to them.  |
+| size_t | **[max_basic_type_sequence_capacity](#variable-max_basic_type_sequence_capacity)** <br>Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain basic types (ie: primitive field types), in case they don't have a custom rule assigned to them.  |
+| const [micro_ros_utilities_memory_rule_t](#micro_ros_utilities_memory_rule_t) * | **[rules](#variable-rules)** <br>All rules defined in this configuration.  |
+| size_t | **[n_rules](#variable-n_rules)** <br>Total number of rules defined in this configuration.  |
+| const rcutils_allocator_t * | **[allocator](#variable-allocator)** <br>The allocator to use when applying this configuration.  |
+
+## Public Attributes Documentation
+
+### variable max_string_capacity
+
+```cpp
+size_t max_string_capacity;
+```
+
+Maximum string capacity to use for msg fields in case they don't have a custom rule assigned to them. 
+
+### variable max_ros2_type_sequence_capacity
+
+```cpp
+size_t max_ros2_type_sequence_capacity;
+```
+
+Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain ROS 2 msg types, in case they don't have a custom rule assigned to them. 
+
+### variable max_basic_type_sequence_capacity
+
+```cpp
+size_t max_basic_type_sequence_capacity;
+```
+
+Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain basic types (ie: primitive field types), in case they don't have a custom rule assigned to them. 
+
+### variable rules
+
+```cpp
+const micro_ros_utilities_memory_rule_t * rules;
+```
+
+All rules defined in this configuration. 
+
+### variable n_rules
+
+```cpp
+size_t n_rules;
+```
+
+Total number of rules defined in this configuration. 
+
+### variable allocator
+
+```cpp
+const rcutils_allocator_t * allocator;
+```
+
+The allocator to use when applying this configuration. 
+
+-------------------------------
\ No newline at end of file
diff --git a/_includes/utils_doc/Classes/structmicro__ros__utilities__memory__rule__t.md b/_includes/utils_doc/Classes/structmicro__ros__utilities__memory__rule__t.md
new file mode 100644
index 00000000..99dd7cae
--- /dev/null
+++ b/_includes/utils_doc/Classes/structmicro__ros__utilities__memory__rule__t.md
@@ -0,0 +1,37 @@
+# micro_ros_utilities_memory_rule_t
+
+Memory rule. 
+
+
+`#include <type_utilities.h>`
+
+## Public Attributes
+
+|                | Name           |
+| -------------- | -------------- |
+| const char * | **[rule](#variable-rule)**  |
+| size_t | **[size](#variable-size)**  |
+
+## Public Attributes Documentation
+
+### variable rule
+
+```cpp
+const char * rule;
+```
+
+
+Pattern matching the fully qualified name of a msg field. 
+
+
+### variable size
+
+```cpp
+size_t size;
+```
+
+
+Maximum string or sequence capacity for fields matching [rule](#variable-rule). 
+
+
+-------------------------------
\ No newline at end of file
diff --git a/_includes/utils_doc/Modules/group__stringutils.md b/_includes/utils_doc/Modules/group__stringutils.md
index 9ce78792..efba4115 100644
--- a/_includes/utils_doc/Modules/group__stringutils.md
+++ b/_includes/utils_doc/Modules/group__stringutils.md
@@ -12,7 +12,6 @@
 | MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | **[micro_ros_string_utilities_remove_tail_chars](#function-micro_ros_string_utilities_remove_tail_chars)**(const rosidl_runtime_c__String str, const size_t n)<br>Removes characters from the end of a string.  |
 | MICRO_ROS_UTILITIES_PUBLIC void | **[micro_ros_string_utilities_destroy](#function-micro_ros_string_utilities_destroy)**(rosidl_runtime_c__String *const str)<br>Destroys a rosidl_runtime_c__String.  |
 
-
 ## Functions Documentation
 
 ### function micro_ros_string_utilities_init
diff --git a/_includes/utils_doc/Modules/group__typeutils.md b/_includes/utils_doc/Modules/group__typeutils.md
index 0c2b87e2..a422a81e 100644
--- a/_includes/utils_doc/Modules/group__typeutils.md
+++ b/_includes/utils_doc/Modules/group__typeutils.md
@@ -1,17 +1,23 @@
 # micro-ROS Types Utilities
 
+## Classes
+
+|                | Name           |
+| -------------- | -------------- |
+| struct | **[micro_ros_utilities_memory_rule_t](#micro_ros_utilities_memory_rule_t)** <br>Memory rule.  |
+| struct | **[micro_ros_utilities_memory_conf_t](#micro_ros_utilities_memory_conf_t)** <br>Memory configuration string.  |
+
 ## Functions
 
 |                | Name           |
 | -------------- | -------------- |
-| MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | **[micro_ros_utilities_type_info](#function-micro_ros_utilities_type_info)**(const rosidl_message_type_support_t * type_support)<br>Returns a string with the type instronspection data.  |
+| MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | **[micro_ros_utilities_type_info](#function-micro_ros_utilities_type_info)**(const rosidl_message_type_support_t * type_support)<br>Returns a string with the type introspection data.  |
 | MICRO_ROS_UTILITIES_PUBLIC size_t | **[micro_ros_utilities_get_dynamic_size](#function-micro_ros_utilities_get_dynamic_size)**(const rosidl_message_type_support_t * type_support, const micro_ros_utilities_memory_conf_t conf)<br>Returns the dynamic memory size that will be used for a type.  |
 | MICRO_ROS_UTILITIES_PUBLIC size_t | **[micro_ros_utilities_get_static_size](#function-micro_ros_utilities_get_static_size)**(const rosidl_message_type_support_t * type_support, const micro_ros_utilities_memory_conf_t conf)<br>Returns the static memory size that will be used for a type.  |
 | MICRO_ROS_UTILITIES_PUBLIC bool | **[micro_ros_utilities_create_message_memory](#function-micro_ros_utilities_create_message_memory)**(const rosidl_message_type_support_t * type_support, void * ros_msg, const micro_ros_utilities_memory_conf_t conf)<br>Allocates the dynamic memory required for a message.  |
 | MICRO_ROS_UTILITIES_PUBLIC bool | **[micro_ros_utilities_create_static_message_memory](#function-micro_ros_utilities_create_static_message_memory)**(const rosidl_message_type_support_t * type_support, void * ros_msg, const micro_ros_utilities_memory_conf_t conf, uint8_t * buffer, size_t buffer_len)<br>Allocates the memory required for a message in a user-provided buffer.  |
 | MICRO_ROS_UTILITIES_PUBLIC bool | **[micro_ros_utilities_destroy_message_memory](#function-micro_ros_utilities_destroy_message_memory)**(const rosidl_message_type_support_t * type_support, void * ros_msg, const micro_ros_utilities_memory_conf_t conf)<br>Deallocates the dynamic memory of a message.  |
 
-
 ## Functions Documentation
 
 ### function micro_ros_utilities_type_info
@@ -22,7 +28,7 @@ MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String micro_ros_utilities_type_inf
 )
 ```
 
-Returns a string with the type instronspection data. 
+Returns a string with the type introspection data. 
 
 **Parameters**: 
 
@@ -215,6 +221,16 @@ Deallocates the dynamic memory of a message.
 
 
 
+## Attributes Documentation
+
+### variable micro_ros_utilities_memory_conf_default
+
+```cpp
+static const micro_ros_utilities_memory_conf_t micro_ros_utilities_memory_conf_default =
+{20, 5, 5, NULL, 0, NULL};
+```
+
+