diff --git a/launch_xml/doc/conf.py b/launch_xml/doc/conf.py
new file mode 100644
index 000000000..e6bee6c6a
--- /dev/null
+++ b/launch_xml/doc/conf.py
@@ -0,0 +1,21 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Configuration file for the Sphinx documentation builder."""
+
+import os
+import sys
+
+# rosdoc2 copies this package's modules alongside conf.py, so add parent to path
+sys.path.insert(0, os.path.abspath('.'))
diff --git a/launch_xml/doc/index.rst b/launch_xml/doc/index.rst
new file mode 100644
index 000000000..d62cb5675
--- /dev/null
+++ b/launch_xml/doc/index.rst
@@ -0,0 +1,20 @@
+Welcome to launch_xml's documentation!
+======================================
+
+``launch_xml`` provides an XML frontend for the ROS 2 launch system.
+See the ROS 2 documentation for usage examples with XML, YAML, and Python launch files.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   standard_docs/README
+   modules
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/launch_yaml/doc/conf.py b/launch_yaml/doc/conf.py
new file mode 100644
index 000000000..e6bee6c6a
--- /dev/null
+++ b/launch_yaml/doc/conf.py
@@ -0,0 +1,21 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Configuration file for the Sphinx documentation builder."""
+
+import os
+import sys
+
+# rosdoc2 copies this package's modules alongside conf.py, so add parent to path
+sys.path.insert(0, os.path.abspath('.'))
diff --git a/launch_yaml/doc/index.rst b/launch_yaml/doc/index.rst
new file mode 100644
index 000000000..1636748ed
--- /dev/null
+++ b/launch_yaml/doc/index.rst
@@ -0,0 +1,20 @@
+Welcome to launch_yaml's documentation!
+=======================================
+
+``launch_yaml`` provides a YAML frontend for the ROS 2 launch system.
+See the ROS 2 documentation for usage examples with XML, YAML, and Python launch files.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   standard_docs/README
+   modules
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`