diff --git a/doc/source/images/graph_mrpt_libs.svg b/doc/source/images/graph_mrpt_libs.svg
index dae945243d..1b301c141b 100644
--- a/doc/source/images/graph_mrpt_libs.svg
+++ b/doc/source/images/graph_mrpt_libs.svg
@@ -12,7 +12,7 @@
 <!-- apps -->
 <g id="node1" class="node">
 <title>apps</title>
-<g id="a_node1"><a xlink:href="group_mrpt_bayes_grp.html" xlink:title="mrpt&#45;apps">
+<g id="a_node1"><a target="_top" href="group_mrpt_bayes_grp.html" title="mrpt&#45;apps">
 <polygon fill="#d0d0d0" stroke="black" points="335,-900 245,-900 245,-864 335,-864 335,-900"/>
 <text text-anchor="middle" x="290" y="-878.3" font-family="Times,serif" font-size="14.00">mrpt&#45;apps</text>
 </a>
@@ -21,7 +21,7 @@
 <!-- gui -->
 <g id="node2" class="node">
 <title>gui</title>
-<g id="a_node2"><a xlink:href="group_mrpt_gui_grp.html" xlink:title="mrpt&#45;gui">
+<g id="a_node2"><a target="_top" href="group_mrpt_gui_grp.html" title="mrpt&#45;gui">
 <polygon fill="#d0d0d0" stroke="black" points="335.5,-756 256.5,-756 256.5,-720 335.5,-720 335.5,-756"/>
 <text text-anchor="middle" x="296" y="-734.3" font-family="Times,serif" font-size="14.00">mrpt&#45;gui</text>
 </a>
@@ -36,7 +36,7 @@
 <!-- slam -->
 <g id="node3" class="node">
 <title>slam</title>
-<g id="a_node3"><a xlink:href="group_mrpt_slam_grp.html" xlink:title="mrpt&#45;slam">
+<g id="a_node3"><a target="_top" href="group_mrpt_slam_grp.html" title="mrpt&#45;slam">
 <polygon fill="#d0d0d0" stroke="black" points="238,-756 148,-756 148,-720 238,-720 238,-756"/>
 <text text-anchor="middle" x="193" y="-734.3" font-family="Times,serif" font-size="14.00">mrpt&#45;slam</text>
 </a>
@@ -51,7 +51,7 @@
 <!-- hwdrivers -->
 <g id="node4" class="node">
 <title>hwdrivers</title>
-<g id="a_node4"><a xlink:href="group_mrpt_hwdrivers_grp.html" xlink:title="mrpt&#45;hwdrivers">
+<g id="a_node4"><a target="_top" href="group_mrpt_hwdrivers_grp.html" title="mrpt&#45;hwdrivers">
 <polygon fill="#d0d0d0" stroke="black" points="564,-828 436,-828 436,-792 564,-792 564,-828"/>
 <text text-anchor="middle" x="500" y="-806.3" font-family="Times,serif" font-size="14.00">mrpt&#45;hwdrivers</text>
 </a>
@@ -66,7 +66,7 @@
 <!-- graphslam -->
 <g id="node5" class="node">
 <title>graphslam</title>
-<g id="a_node5"><a xlink:href="group_mrpt_graphslam_grp.html" xlink:title="mrpt&#45;graphslam">
+<g id="a_node5"><a target="_top" href="group_mrpt_graphslam_grp.html" title="mrpt&#45;graphslam">
 <polygon fill="#d0d0d0" stroke="black" points="238,-828 106,-828 106,-792 238,-792 238,-828"/>
 <text text-anchor="middle" x="172" y="-806.3" font-family="Times,serif" font-size="14.00">mrpt&#45;graphslam</text>
 </a>
@@ -81,7 +81,7 @@
 <!-- opengl -->
 <g id="node18" class="node">
 <title>opengl</title>
-<g id="a_node18"><a xlink:href="group_mrpt_opengl_grp.html" xlink:title="mrpt&#45;opengl">
+<g id="a_node18"><a target="_top" href="group_mrpt_opengl_grp.html" title="mrpt&#45;opengl">
 <polygon fill="#d0d0d0" stroke="black" points="646,-540 542,-540 542,-504 646,-504 646,-540"/>
 <text text-anchor="middle" x="594" y="-518.3" font-family="Times,serif" font-size="14.00">mrpt&#45;opengl</text>
 </a>
@@ -96,7 +96,7 @@
 <!-- maps -->
 <g id="node19" class="node">
 <title>maps</title>
-<g id="a_node19"><a xlink:href="group_mrpt_maps_grp.html" xlink:title="mrpt&#45;maps">
+<g id="a_node19"><a target="_top" href="group_mrpt_maps_grp.html" title="mrpt&#45;maps">
 <polygon fill="#d0d0d0" stroke="black" points="658.5,-684 563.5,-684 563.5,-648 658.5,-648 658.5,-684"/>
 <text text-anchor="middle" x="611" y="-662.3" font-family="Times,serif" font-size="14.00">mrpt&#45;maps</text>
 </a>
@@ -111,7 +111,7 @@
 <!-- vision -->
 <g id="node20" class="node">
 <title>vision</title>
-<g id="a_node20"><a xlink:href="group_mrpt_vision_grp.html" xlink:title="mrpt&#45;vision">
+<g id="a_node20"><a target="_top" href="group_mrpt_vision_grp.html" title="mrpt&#45;vision">
 <polygon fill="#d0d0d0" stroke="black" points="294,-684 196,-684 196,-648 294,-648 294,-684"/>
 <text text-anchor="middle" x="245" y="-662.3" font-family="Times,serif" font-size="14.00">mrpt&#45;vision</text>
 </a>
@@ -132,7 +132,7 @@
 <!-- comms -->
 <g id="node9" class="node">
 <title>comms</title>
-<g id="a_node9"><a xlink:href="group_mrpt_comms_grp.html" xlink:title="mrpt&#45;comms">
+<g id="a_node9"><a target="_top" href="group_mrpt_comms_grp.html" title="mrpt&#45;comms">
 <polygon fill="#d0d0d0" stroke="black" points="876.5,-468 769.5,-468 769.5,-432 876.5,-432 876.5,-468"/>
 <text text-anchor="middle" x="823" y="-446.3" font-family="Times,serif" font-size="14.00">mrpt&#45;comms</text>
 </a>
@@ -171,7 +171,7 @@
 <!-- bayes -->
 <g id="node6" class="node">
 <title>bayes</title>
-<g id="a_node6"><a xlink:href="group_mrpt_bayes_grp.html" xlink:title="mrpt&#45;bayes">
+<g id="a_node6"><a target="_top" href="group_mrpt_bayes_grp.html" title="mrpt&#45;bayes">
 <polygon fill="#d0d0d0" stroke="black" points="595,-396 497,-396 497,-360 595,-360 595,-396"/>
 <text text-anchor="middle" x="546" y="-374.3" font-family="Times,serif" font-size="14.00">mrpt&#45;bayes</text>
 </a>
@@ -180,7 +180,7 @@
 <!-- math -->
 <g id="node7" class="node">
 <title>math</title>
-<g id="a_node7"><a xlink:href="group_mrpt_math_grp.html" xlink:title="mrpt&#45;math">
+<g id="a_node7"><a target="_top" href="group_mrpt_math_grp.html" title="mrpt&#45;math">
 <polygon fill="#d0d0d0" stroke="black" points="600.5,-252 507.5,-252 507.5,-216 600.5,-216 600.5,-252"/>
 <text text-anchor="middle" x="554" y="-230.3" font-family="Times,serif" font-size="14.00">mrpt&#45;math</text>
 </a>
@@ -195,7 +195,7 @@
 <!-- config -->
 <g id="node8" class="node">
 <title>config</title>
-<g id="a_node8"><a xlink:href="group_mrpt_config_grp.html" xlink:title="mrpt&#45;config">
+<g id="a_node8"><a target="_top" href="group_mrpt_config_grp.html" title="mrpt&#45;config">
 <polygon fill="#d0d0d0" stroke="black" points="709,-324 609,-324 609,-288 709,-288 709,-324"/>
 <text text-anchor="middle" x="659" y="-302.3" font-family="Times,serif" font-size="14.00">mrpt&#45;config</text>
 </a>
@@ -210,7 +210,7 @@
 <!-- system -->
 <g id="node16" class="node">
 <title>system</title>
-<g id="a_node16"><a xlink:href="group_mrpt_system_grp.html" xlink:title="mrpt&#45;system">
+<g id="a_node16"><a target="_top" href="group_mrpt_system_grp.html" title="mrpt&#45;system">
 <polygon fill="#d0d0d0" stroke="black" points="751.5,-180 644.5,-180 644.5,-144 751.5,-144 751.5,-180"/>
 <text text-anchor="middle" x="698" y="-158.3" font-family="Times,serif" font-size="14.00">mrpt&#45;system</text>
 </a>
@@ -225,7 +225,7 @@
 <!-- serialization -->
 <g id="node24" class="node">
 <title>serialization</title>
-<g id="a_node24"><a xlink:href="group_mrpt_serialization_grp.html" xlink:title="mrpt&#45;serialization">
+<g id="a_node24"><a target="_top" href="group_mrpt_serialization_grp.html" title="mrpt&#45;serialization">
 <polygon fill="#d0d0d0" stroke="black" points="626,-180 482,-180 482,-144 626,-144 626,-180"/>
 <text text-anchor="middle" x="554" y="-158.3" font-family="Times,serif" font-size="14.00">mrpt&#45;serialization</text>
 </a>
@@ -240,7 +240,7 @@
 <!-- random -->
 <g id="node25" class="node">
 <title>random</title>
-<g id="a_node25"><a xlink:href="group_mrpt_random_grp.html" xlink:title="mrpt&#45;random">
+<g id="a_node25"><a target="_top" href="group_mrpt_random_grp.html" title="mrpt&#45;random">
 <polygon fill="#d0d0d0" stroke="black" points="501.5,-36 390.5,-36 390.5,0 501.5,0 501.5,-36"/>
 <text text-anchor="middle" x="446" y="-14.3" font-family="Times,serif" font-size="14.00">mrpt&#45;random</text>
 </a>
@@ -255,7 +255,7 @@
 <!-- expr -->
 <g id="node11" class="node">
 <title>expr</title>
-<g id="a_node11"><a xlink:href="group_mrpt_expr_grp.html" xlink:title="mrpt&#45;expr">
+<g id="a_node11"><a target="_top" href="group_mrpt_expr_grp.html" title="mrpt&#45;expr">
 <polygon fill="#d0d0d0" stroke="black" points="710.5,-252 621.5,-252 621.5,-216 710.5,-216 710.5,-252"/>
 <text text-anchor="middle" x="666" y="-230.3" font-family="Times,serif" font-size="14.00">mrpt&#45;expr</text>
 </a>
@@ -270,7 +270,7 @@
 <!-- io -->
 <g id="node10" class="node">
 <title>io</title>
-<g id="a_node10"><a xlink:href="group_mrpt_io_grp.html" xlink:title="mrpt&#45;io">
+<g id="a_node10"><a target="_top" href="group_mrpt_io_grp.html" title="mrpt&#45;io">
 <polygon fill="#d0d0d0" stroke="black" points="796.5,-324 727.5,-324 727.5,-288 796.5,-288 796.5,-324"/>
 <text text-anchor="middle" x="762" y="-302.3" font-family="Times,serif" font-size="14.00">mrpt&#45;io</text>
 </a>
@@ -297,7 +297,7 @@
 <!-- containers -->
 <g id="node12" class="node">
 <title>containers</title>
-<g id="a_node12"><a xlink:href="group_mrpt_containers_grp.html" xlink:title="mrpt&#45;containers">
+<g id="a_node12"><a target="_top" href="group_mrpt_containers_grp.html" title="mrpt&#45;containers">
 <polygon fill="#d0d0d0" stroke="black" points="747.5,-108 616.5,-108 616.5,-72 747.5,-72 747.5,-108"/>
 <text text-anchor="middle" x="682" y="-86.3" font-family="Times,serif" font-size="14.00">mrpt&#45;containers</text>
 </a>
@@ -306,7 +306,7 @@
 <!-- core -->
 <g id="node13" class="node">
 <title>core</title>
-<g id="a_node13"><a xlink:href="group_mrpt_core_grp.html" xlink:title="mrpt&#45;core">
+<g id="a_node13"><a target="_top" href="group_mrpt_core_grp.html" title="mrpt&#45;core">
 <polygon fill="#d0d0d0" stroke="black" points="606.5,-36 519.5,-36 519.5,0 606.5,0 606.5,-36"/>
 <text text-anchor="middle" x="563" y="-14.3" font-family="Times,serif" font-size="14.00">mrpt&#45;core</text>
 </a>
@@ -321,7 +321,7 @@
 <!-- typemeta -->
 <g id="node14" class="node">
 <title>typemeta</title>
-<g id="a_node14"><a xlink:href="group_mrpt_typemeta_grp.html" xlink:title="mrpt&#45;typemeta (.h)">
+<g id="a_node14"><a target="_top" href="group_mrpt_typemeta_grp.html" title="mrpt&#45;typemeta (.h)">
 <polygon fill="#d0d0d0" stroke="black" points="777,-36 625,-36 625,0 777,0 777,-36"/>
 <text text-anchor="middle" x="701" y="-14.3" font-family="Times,serif" font-size="14.00">mrpt&#45;typemeta (.h)</text>
 </a>
@@ -336,7 +336,7 @@
 <!-- detectors -->
 <g id="node15" class="node">
 <title>detectors</title>
-<g id="a_node15"><a xlink:href="group_mrpt_detectors_grp.html" xlink:title="mrpt&#45;detectors">
+<g id="a_node15"><a target="_top" href="group_mrpt_detectors_grp.html" title="mrpt&#45;detectors">
 <polygon fill="#d0d0d0" stroke="black" points="380,-828 256,-828 256,-792 380,-792 380,-828"/>
 <text text-anchor="middle" x="318" y="-806.3" font-family="Times,serif" font-size="14.00">mrpt&#45;detectors</text>
 </a>
@@ -369,7 +369,7 @@
 <!-- graphs -->
 <g id="node17" class="node">
 <title>graphs</title>
-<g id="a_node17"><a xlink:href="group_mrpt_graphs_grp.html" xlink:title="mrpt&#45;graphs">
+<g id="a_node17"><a target="_top" href="group_mrpt_graphs_grp.html" title="mrpt&#45;graphs">
 <polygon fill="#d0d0d0" stroke="black" points="664,-612 558,-612 558,-576 664,-576 664,-612"/>
 <text text-anchor="middle" x="611" y="-590.3" font-family="Times,serif" font-size="14.00">mrpt&#45;graphs</text>
 </a>
@@ -384,7 +384,7 @@
 <!-- img -->
 <g id="node21" class="node">
 <title>img</title>
-<g id="a_node21"><a xlink:href="group_mrpt_img_grp.html" xlink:title="mrpt&#45;img">
+<g id="a_node21"><a target="_top" href="group_mrpt_img_grp.html" title="mrpt&#45;img">
 <polygon fill="#d0d0d0" stroke="black" points="698.5,-396 615.5,-396 615.5,-360 698.5,-360 698.5,-396"/>
 <text text-anchor="middle" x="657" y="-374.3" font-family="Times,serif" font-size="14.00">mrpt&#45;img</text>
 </a>
@@ -399,7 +399,7 @@
 <!-- poses -->
 <g id="node28" class="node">
 <title>poses</title>
-<g id="a_node28"><a xlink:href="group_mrpt_poses_grp.html" xlink:title="mrpt&#45;poses">
+<g id="a_node28"><a target="_top" href="group_mrpt_poses_grp.html" title="mrpt&#45;poses">
 <polygon fill="#d0d0d0" stroke="black" points="594.5,-468 497.5,-468 497.5,-432 594.5,-432 594.5,-468"/>
 <text text-anchor="middle" x="546" y="-446.3" font-family="Times,serif" font-size="14.00">mrpt&#45;poses</text>
 </a>
@@ -420,7 +420,7 @@
 <!-- obs -->
 <g id="node23" class="node">
 <title>obs</title>
-<g id="a_node23"><a xlink:href="group_mrpt_obs_grp.html" xlink:title="mrpt&#45;obs">
+<g id="a_node23"><a target="_top" href="group_mrpt_obs_grp.html" title="mrpt&#45;obs">
 <polygon fill="#d0d0d0" stroke="black" points="501.5,-612 420.5,-612 420.5,-576 501.5,-576 501.5,-612"/>
 <text text-anchor="middle" x="461" y="-590.3" font-family="Times,serif" font-size="14.00">mrpt&#45;obs</text>
 </a>
@@ -459,7 +459,7 @@
 <!-- kinematics -->
 <g id="node22" class="node">
 <title>kinematics</title>
-<g id="a_node22"><a xlink:href="group_mrpt_kinematics_grp.html" xlink:title="mrpt&#45;kinematics">
+<g id="a_node22"><a target="_top" href="group_mrpt_kinematics_grp.html" title="mrpt&#45;kinematics">
 <polygon fill="#d0d0d0" stroke="black" points="816,-612 682,-612 682,-576 816,-576 816,-612"/>
 <text text-anchor="middle" x="749" y="-590.3" font-family="Times,serif" font-size="14.00">mrpt&#45;kinematics</text>
 </a>
@@ -480,7 +480,7 @@
 <!-- tfest -->
 <g id="node27" class="node">
 <title>tfest</title>
-<g id="a_node27"><a xlink:href="group_mrpt_tfest_grp.html" xlink:title="mrpt&#45;tfest">
+<g id="a_node27"><a target="_top" href="group_mrpt_tfest_grp.html" title="mrpt&#45;tfest">
 <polygon fill="#d0d0d0" stroke="black" points="514.5,-540 425.5,-540 425.5,-504 514.5,-504 514.5,-540"/>
 <text text-anchor="middle" x="470" y="-518.3" font-family="Times,serif" font-size="14.00">mrpt&#45;tfest</text>
 </a>
@@ -495,7 +495,7 @@
 <!-- rtti -->
 <g id="node29" class="node">
 <title>rtti</title>
-<g id="a_node29"><a xlink:href="group_mrpt_rtti_grp.html" xlink:title="mrpt&#45;rtti">
+<g id="a_node29"><a target="_top" href="group_mrpt_rtti_grp.html" title="mrpt&#45;rtti">
 <polygon fill="#d0d0d0" stroke="black" points="598,-108 518,-108 518,-72 598,-72 598,-108"/>
 <text text-anchor="middle" x="558" y="-86.3" font-family="Times,serif" font-size="14.00">mrpt&#45;rtti</text>
 </a>
@@ -510,7 +510,7 @@
 <!-- nav -->
 <g id="node26" class="node">
 <title>nav</title>
-<g id="a_node26"><a xlink:href="group_mrpt_nav_grp.html" xlink:title="mrpt&#45;nav">
+<g id="a_node26"><a target="_top" href="group_mrpt_nav_grp.html" title="mrpt&#45;nav">
 <polygon fill="#d0d0d0" stroke="black" points="816,-756 734,-756 734,-720 816,-720 816,-756"/>
 <text text-anchor="middle" x="775" y="-734.3" font-family="Times,serif" font-size="14.00">mrpt&#45;nav</text>
 </a>
@@ -555,7 +555,7 @@
 <!-- ros1bridge -->
 <g id="node30" class="node">
 <title>ros1bridge</title>
-<g id="a_node30"><a xlink:href="group_mrpt_ros1bridge_grp.html" xlink:title="mrpt&#45;ros1bridge">
+<g id="a_node30"><a target="_top" href="group_mrpt_ros1bridge_grp.html" title="mrpt&#45;ros1bridge">
 <polygon fill="#d0d0d0" stroke="black" points="678,-756 544,-756 544,-720 678,-720 678,-756"/>
 <text text-anchor="middle" x="611" y="-734.3" font-family="Times,serif" font-size="14.00">mrpt&#45;ros1bridge</text>
 </a>
@@ -570,7 +570,7 @@
 <!-- ros2bridge -->
 <g id="node31" class="node">
 <title>ros2bridge</title>
-<g id="a_node31"><a xlink:href="group_mrpt_ros2bridge_grp.html" xlink:title="mrpt&#45;ros2bridge">
+<g id="a_node31"><a target="_top" href="group_mrpt_ros2bridge_grp.html" title="mrpt&#45;ros2bridge">
 <polygon fill="#d0d0d0" stroke="black" points="526,-756 392,-756 392,-720 526,-720 526,-756"/>
 <text text-anchor="middle" x="459" y="-734.3" font-family="Times,serif" font-size="14.00">mrpt&#45;ros2bridge</text>
 </a>
@@ -585,7 +585,7 @@
 <!-- topography -->
 <g id="node32" class="node">
 <title>topography</title>
-<g id="a_node32"><a xlink:href="group_mrpt_topography_grp.html" xlink:title="mrpt&#45;topography">
+<g id="a_node32"><a target="_top" href="group_mrpt_topography_grp.html" title="mrpt&#45;topography">
 <polygon fill="#d0d0d0" stroke="black" points="502,-684 364,-684 364,-648 502,-648 502,-684"/>
 <text text-anchor="middle" x="433" y="-662.3" font-family="Times,serif" font-size="14.00">mrpt&#45;topography</text>
 </a>
@@ -600,7 +600,7 @@
 <!-- visionlgpl -->
 <g id="node33" class="node">
 <title>visionlgpl</title>
-<g id="a_node33"><a xlink:href="group_mrpt_vision_lgpl_grp.html" xlink:title="mrpt&#45;vision&#45;lgpl">
+<g id="a_node33"><a target="_top" href="group_mrpt_vision_lgpl_grp.html" title="mrpt&#45;vision&#45;lgpl">
 <polygon fill="#d0d0d0" stroke="black" points="130,-756 0,-756 0,-720 130,-720 130,-756"/>
 <text text-anchor="middle" x="65" y="-734.3" font-family="Times,serif" font-size="14.00">mrpt&#45;vision&#45;lgpl</text>
 </a>
diff --git a/doc/source/modules.rst b/doc/source/modules.rst
index 3722e79ac3..b55a134afd 100644
--- a/doc/source/modules.rst
+++ b/doc/source/modules.rst
@@ -9,7 +9,13 @@ MRPT is split into a set of independent libraries for the sake of modularity.
 Click on a module name on the tree view to open its documentation.
 Each MRPT library source code can be found under ``${MRPT_ROOT}/libs``.
 
-.. graphviz:: images/graph_mrpt_libs.dot
+.. <img> + rst doesn't work with clickable svg links (!!). Used <object> instead
+
+.. raw:: html
+
+    <div style="width: 100%;">
+    <object data="graph_mrpt_libs.svg" type="image/svg+xml" width="100%"></object>
+    </div>
 
 .. toctree::
   :maxdepth: 2