diff --git a/conf.py b/conf.py
index 2185a69ed42..de0a85b8dde 100644
--- a/conf.py
+++ b/conf.py
@@ -86,6 +86,7 @@
     "generate_parameter_library",
     'sphinx_tabs.tabs',
     "sphinx.ext.autosectionlabel",
+    "breathe"
 ]
 
 # Make sure the target is unique
diff --git a/doc/api/api.rst b/doc/api/api.rst
new file mode 100644
index 00000000000..56a06531cff
--- /dev/null
+++ b/doc/api/api.rst
@@ -0,0 +1,44 @@
+
+=================
+API Documentation
+=================
+
+ros2_control
+*************
+API documentation is parsed by doxygen and can be found `here <../../api/index.html>`_
+
+control_msgs
+***************
+
+.. toctree::
+   :maxdepth: 2
+
+   Message Definitions <../control_msgs/generated/message_definitions>
+   Service Definitions <../control_msgs/generated/service_definitions>
+   Action Definitions <../control_msgs/generated/action_definitions>
+
+control_toolbox
+***************
+
+.. toctree::
+   :maxdepth: 2
+
+   C++ API <../control_toolbox/generated/index>
+   Service Definitions <../control_toolbox/generated/service_definitions>
+
+realtime_tools
+***************
+
+.. toctree::
+   :maxdepth: 2
+
+   C++ API <../realtime_tools/index>
+
+kinematics_interface
+********************
+
+.. toctree::
+   :maxdepth: 2
+
+   C++ API kinematics_interface <../kinematics_interface/index>
+   C++ API kinematics_interface_kdl <../kinematics_interface_kdl/index>
diff --git a/index.rst b/index.rst
index 628ff60627d..b8a1715804b 100644
--- a/index.rst
+++ b/index.rst
@@ -13,6 +13,7 @@ Welcome to the ros2_control documentation!
    doc/ros2_control/ros2controlcli/doc/userdoc.rst
    doc/simulators/simulators.rst
    doc/migration/migration.rst
+   doc/api/api.rst
    doc/supported_robots/supported_robots.rst
    doc/resources/resources.rst
    doc/contributing/contributing.rst
@@ -35,6 +36,7 @@ The ros2_control framework consists of the following Github repositories:
 * `control_toolbox`_ - some widely-used control theory implementations (e.g. PID) used by controllers;
 * `realtime_tools`_ - general toolkit for realtime support, e.g., realtime buffers and publishers;
 * `control_msgs`_ - common messages.
+* `kinematics_interface`_ - for using C++ kinematics frameworks.
 
 
 Additionally, there are following (unreleased) packages are relevant for getting-started and project management:
@@ -72,6 +74,7 @@ General discussions
 .. _control_msgs: https://github.com/ros-controls/control_msgs
 .. _realtime_tools: https://github.com/ros-controls/realtime_tools
 .. _control_toolbox: https://github.com/ros-controls/control_toolbox
+.. _kinematics_interface: https://github.com/ros-controls/kinematics_interface
 .. _ros2_control_demos: https://github.com/ros-controls/ros2_control_demos
 .. _controller_manager_msgs: https://github.com/ros-controls/ros2_control/tree/{REPOS_FILE_BRANCH}/controller_manager_msgs
 .. _Controller Manager: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_manager/src/controller_manager.cpp