diff --git a/.doxygen/Doxyfile b/.doxygen/Doxyfile
new file mode 100644
index 0000000..e6e7c91
--- /dev/null
+++ b/.doxygen/Doxyfile
@@ -0,0 +1,48 @@
+# Doxyfile 1.8.13
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = "RMF Task Scheduler"
+PROJECT_NUMBER         =
+PROJECT_BRIEF          =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = ../docs/doxygen/build
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = YES
+INPUT                  = ./doxygen.md \
+                         ../rmf_scheduler/include \ 
+                         ../task_estimate_client_cpp/include \ 
+USE_MDFILE_AS_MAINPAGE = ./doxygen.md
+RECURSIVE              = YES
+EXCLUDE                =
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       =
+EXCLUDE_SYMBOLS        =
+
+EXAMPLE_PATH           =
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             =
+INPUT_FILTER           =
+FILTER_PATTERNS        =
+FILTER_SOURCE_FILES    = NO
+FILTER_SOURCE_PATTERNS =
diff --git a/.doxygen/doxygen.md b/.doxygen/doxygen.md
new file mode 100644
index 0000000..0de2955
--- /dev/null
+++ b/.doxygen/doxygen.md
@@ -0,0 +1 @@
+# RMF Task Scheduler
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 51db686..205eec6 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -57,3 +57,20 @@ humble-nightly-clang:
     - apt-get update && apt-get install -y git
     - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
     - .industrial_ci/gitlab.sh
+
+# Build API Documentation
+doxygen-docs:
+  image: ubuntu:latest
+
+  before_script:
+    - apt-get -qq update
+    - apt-get -y -qq install doxygen graphviz
+
+  script:
+    - (mkdir -p docs/doxygen/build && cd ./.doxygen && doxygen)
+
+  artifacts:
+    paths:
+      - docs/doxygen/build/html/
+    expire_in: 1 day
+
diff --git a/docs/.gitignore b/docs/.gitignore
new file mode 100644
index 0000000..378eac2
--- /dev/null
+++ b/docs/.gitignore
@@ -0,0 +1 @@
+build