diff --git a/docs/extra.css b/docs/extra.css
new file mode 100644
index 0000000..2734197
--- /dev/null
+++ b/docs/extra.css
@@ -0,0 +1,93 @@
+[data-md-color-primary=hello-robot-light]{
+  --md-primary-fg-color: #122837;
+  --md-primary-fg-color--light: hsla(0,0%, 100%, 0.7);
+  --md-primary-fg-color--dark: hsla(0, 0%, 0%, 0.07);
+  --md-primary-bg-color: #FDF1F5;
+  --md-typeset-a-color: #0550b3;
+  --md-code-hl-number-color: hsla(196, 86%, 29%, 1); /* Make code block magic numbers less bright in light theme */
+
+}
+[data-md-color-primary=hello-robot-dark]{
+  --md-primary-fg-color: #122837;
+  --md-primary-fg-color--light: hsla(0,0%, 100%, 0.7);
+  --md-primary-fg-color--dark: hsla(0, 0%, 0%, 0.07);
+  --md-primary-bg-color: #FDF1F5;
+  --md-typeset-a-color: hsla(341, 85%, 89%, 1.0); /* Make links more visible in dark theme */
+}
+
+[data-md-color-primary=hello-robot-light] .md-typeset h1,
+.md-typeset h2 {
+  color: hsla(237, 100%, 28%, 1);
+}
+
+[data-md-color-primary=hello-robot-dark] .md-typeset h1,
+.md-typeset h2 {
+  color: hsla(213, 100%, 68%, 1);
+}
+
+[data-md-color-scheme="slate"] {
+  --md-hue: 210; /* [0, 360] */
+}
+
+
+th, td {
+    border: 1px solid var(--md-typeset-table-color);
+    border-spacing: 0;
+    border-bottom: none;
+    border-left: none;
+    border-top: none;
+}
+
+.md-typeset__table {
+    line-height: 1;
+}
+
+.md-typeset__table table:not([class]) {
+    font-size: .74rem;
+    border-right: none;
+}
+
+.md-typeset__table table:not([class]) td,
+.md-typeset__table table:not([class]) th {
+    padding: 9px;
+}
+
+/* light mode alternating table bg colors */
+.md-typeset__table tr:nth-child(2n) {
+    background-color: #f8f8f8;
+}
+
+/* dark mode alternating table bg colors */
+[data-md-color-scheme="slate"] .md-typeset__table tr:nth-child(2n) {
+    background-color: hsla(var(--md-hue),25%,25%,1)
+}
+
+
+/*
+.md-header__topic:first-child {
+  font-weight: normal;
+}
+
+/* Indentation.
+div.doc-contents {
+  padding-left: 25px;
+  border-left: 4px solid rgba(230, 230, 230);
+  margin-bottom: 20px;
+}
+
+.md-typeset__table {
+  min-width: 100%;
+}
+
+.md-typeset table:not([class]) {
+  display: table;
+}
+*/
+.shell-prompt code::before {
+  content: "$ ";
+  color: grey;
+}
+
+.highlight.no-copy .md-clipboard {
+  display: none;
+}
diff --git a/images/hello_robot_favicon.png b/images/hello_robot_favicon.png
new file mode 100644
index 0000000..1ae5623
Binary files /dev/null and b/images/hello_robot_favicon.png differ
diff --git a/images/hello_robot_logo_light.png b/images/hello_robot_logo_light.png
new file mode 100644
index 0000000..7263472
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diff --git a/mkdocs.yml b/mkdocs.yml
new file mode 100644
index 0000000..bd08d33
--- /dev/null
+++ b/mkdocs.yml
@@ -0,0 +1,97 @@
+site_name: Stretch ROS
+site_url: https://docs.hello-robot.com/stretch_ros
+site_description: "Hello Robot Stretch ROS Documentation"
+copyright: 'Copyright © 2022 Hello Robot Inc'
+site_author: Hello Robot Inc
+use_directory_urls: True
+docs_dir: .
+site_dir: ../site
+
+theme:
+ name: material
+ features:
+  - navigation.instant
+  - navigation.footer
+ #font: Arial
+ palette:
+  - scheme: default
+    primary: hello-robot-light
+    toggle:
+      icon: material/lightbulb-outline
+      name: Switch to dark mode
+  - scheme: slate
+    primary: hello-robot-dark
+    toggle:
+      icon: material/lightbulb
+      name: Switch to light mode
+ logo: images/hello_robot_logo_light.png
+ favicon: images/hello_robot_favicon.png
+
+extra_css:
+  - ./docs/extra.css
+
+markdown_extensions:
+  - pymdownx.highlight
+  - pymdownx.superfences
+  - pymdownx.inlinehilite
+  - pymdownx.keys
+  - admonition
+  - pymdownx.tabbed:
+      alternate_style: true
+
+plugins:
+  - same-dir
+#  - simple:
+#      merge_docs_dir: true
+#      include_extensions: [".css", ".png"]
+#      include_folders: ['../hello_helpers']
+  - mike:
+      # these fields are all optional; the defaults are as below...
+      version_selector: true   # set to false to leave out the version selector
+      css_dir: css             # the directory to put the version selector's CSS
+      javascript_dir: js       # the directory to put the version selector's JS
+      canonical_version: null  # the version for <link rel="canonical">; `null`
+      # uses the version specified via `mike deploy`
+  - search
+  - tags
+  - mkdocstrings:
+      default_handler: python
+      handlers:
+        python:
+          selection:
+            docstring_style: numpy
+          rendering:
+            show_root_heading: true
+            show_source: false
+            members_order: source
+            heading_level: 3
+            show_if_no_docstring: true
+
+extra:
+  version:
+    provider: mike
+    default: latest
+  social:
+    - icon: material/home
+      link: https://hello-robot.com
+    - icon: material/twitter
+      link: https://twitter.com/HelloRobotInc
+    - icon: material/github
+      link: https://github.com/hello-robot
+    - icon: material/linkedin
+      link: https://linkedin.com/company/hello-robot-inc
+
+nav:
+ - Overview: README.md
+ - Tutorials: https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/
+ - Packages:
+    - hello_helpers: ./hello_helpers/README.md
+    - stretch_calibration: ./stretch_calibration/README.md
+    - stretch_core: ./stretch_core/README.md
+    - stretch_deep_perception: ./stretch_deep_perception/README.md
+    - stretch_demos: ./stretch_demos/README.md
+    - stretch_description: ./stretch_description/README.md
+    - stretch_funmap: ./stretch_funmap/README.md
+    - stretch_gazebo: ./stretch_gazebo/README.md
+    - stretch_moveit_config: ./stretch_moveit_config/README.md
+    - stretch_navigation: ./stretch_navigation/README.md