diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
new file mode 100644
index 00000000..691b2842
--- /dev/null
+++ b/.github/workflows/docs.yml
@@ -0,0 +1,29 @@
+name: docs
+
+on:
+  push:
+    branches:
+      - develop-ros2
+      - main-ros2
+
+jobs:
+  doxygen:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Doxygen
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y doxygen
+
+      - name: Generate API docs
+        run: doxygen Doxyfile
+
+      - name: Deploy to GitHub Pages
+        uses: peaceiris/actions-gh-pages@v4
+        if: github.ref == 'refs/heads/develop-ros2'
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: docs/api/html
diff --git a/.gitignore b/.gitignore
index 1d74e219..9bab43a9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 .vscode/
+docs/api/
diff --git a/Doxyfile b/Doxyfile
new file mode 100644
index 00000000..a3787aba
--- /dev/null
+++ b/Doxyfile
@@ -0,0 +1,19 @@
+PROJECT_NAME           = "Eagleye"
+PROJECT_NUMBER         = 1.0.0
+PROJECT_BRIEF          = "GNSS/IMU-based vehicle localization for ROS2"
+OUTPUT_DIRECTORY       = docs/api
+INPUT                  = eagleye_core eagleye_msgs eagleye_rt eagleye_util
+RECURSIVE              = YES
+FILE_PATTERNS          = *.cpp *.hpp *.h
+EXCLUDE_PATTERNS       = */build/* */install/*
+GENERATE_HTML          = YES
+GENERATE_LATEX         = NO
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = YES
+HAVE_DOT               = NO
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = NO
+HTML_OUTPUT            = html
+USE_MDFILE_AS_MAINPAGE = README.md