diff --git a/.github/workflows/sphinx_build.yml b/.github/workflows/sphinx_build.yml
new file mode 100644
index 0000000..3074b38
--- /dev/null
+++ b/.github/workflows/sphinx_build.yml
@@ -0,0 +1,30 @@
+---
+name: "Build documentation"
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - ros2
+  schedule:
+    - cron: '38 2 * * *'
+
+jobs:
+  docs:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.ref }}
+    steps:
+      - uses: actions/checkout@v5
+      - uses: actions/setup-python@v6
+        with:
+          cache: 'pip'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r doc_requirements.txt
+      - name: Build documentation
+        run: |
+          sphinx-build -W -b html ur_simulation_gz/doc _doc_build
diff --git a/doc_requirements.txt b/doc_requirements.txt
new file mode 100644
index 0000000..325ab11
--- /dev/null
+++ b/doc_requirements.txt
@@ -0,0 +1,5 @@
+sphinx
+sphinx-copybutton
+sphinx-tabs
+sphinx_rtd_theme
+catkin-pkg
diff --git a/ur_simulation_gz/doc/conf.py b/ur_simulation_gz/doc/conf.py
new file mode 100644
index 0000000..a35b8e2
--- /dev/null
+++ b/ur_simulation_gz/doc/conf.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python
+# Copyright 2025, Universal Robots A/S
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = "ur_simulation_gz"
+copyright = "2025, Universal Robots A/S"
+author = "Felix Exner"
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = []
+
+templates_path = ["_templates"]
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", "migration/*.rst"]
+
+root_doc = "index"
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = "alabaster"
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = "ur_simulation_gz_doc"