Spring REST Docs was released recently and the documentation says:
This approach frees you from the limitations imposed by tools like Swagger
So, I wanted to ask when Spring REST Docs is preferable to use comparing to Swagger and which limitations it frees.
I just saw a presentation here that touches on your question among other topics:
https://www.youtube.com/watch?v=k5ncCJBarRI&t=26m58s
Swagger doesn't support hypermedia at all / it's URI centric
Swagger's method of inspecting your code can lag behind your code. It's possible make a change in your code that Swagger fails to understand and won't process properly until Swagger gets updated.
Swagger requires lot of annotation, and it's painful to include the descriptive text you want in an api document in annotations.
There are just some things that Swagger can't figure out from inspecting your code.
In any case, these are just a couple of points. The presenter does a much better job discussing it than I could.