diff --git a/dev/source/docs/ros.rst b/dev/source/docs/ros.rst
index a32da61710..1259c41e6d 100644
--- a/dev/source/docs/ros.rst
+++ b/dev/source/docs/ros.rst
@@ -35,6 +35,7 @@ These pages will show you how to:
         ROS with SITL <ros-sitl>
         ROS 2 with SITL <ros2-sitl>
         ROS with SITL in Gazebo <ros-gazebo>
+        ROS 2 with SITL in Gazebo <ros2-gazebo>
         ROS with distance sensors <ros-distance-sensors>
         ROS with Aruco Boards detection <ros-aruco-detection>
         ROS with Apriltag Boards detection <ros-apriltag-detection>
diff --git a/dev/source/docs/ros2-gazebo.rst b/dev/source/docs/ros2-gazebo.rst
new file mode 100644
index 0000000000..6f115b84a1
--- /dev/null
+++ b/dev/source/docs/ros2-gazebo.rst
@@ -0,0 +1,56 @@
+.. _ros2-gazebo:
+
+=================
+ROS 2 with Gazebo
+=================
+
+Once ROS2 is correctly :ref:`installed <ros2>` and running :ref:`sitl <ros2-sitl>`, we can integrate Ardupilot with Gazebo. For that, we will need some ROS 2 packages.
+
+We will install the required packages using `vcs` and a `ros2.repos` files:
+
+.. code-block:: bash
+
+    cd ~/ros2_ws/src
+    wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
+    vcs import --recursive < ros2_gz.repos
+
+Set the gazebo version
+
+.. code-block:: bash
+
+    export GZ_VERSION=garden
+
+Update ROS dependencies:
+
+.. code-block:: bash
+
+    cd ~/ros2_ws
+    source /opt/ros/humble/setup.bash
+    sudo apt update
+    rosdep update
+    rosdep install --rosdistro $ROS_DISTRO --from-paths src -i -r -y
+
+Build:
+
+.. code-block:: bash
+
+    cd ~/ros2_ws
+    colcon build --cmake-args -DBUILD_TESTING=ON
+
+If you'd like to test your installation, run:
+
+.. code-block:: bash
+
+    cd ~/ros2_ws
+    source ./install/setup.bash
+    colcon test --packages-select ardupilot_sitl ardupilot_dds_tests ardupilot_gazebo ardupilot_gz_applications ardupilot_gz_description ardupilot_gz_gazebo ardupilot_gz_bringup
+    colcon test-result --all --verbose
+
+Finally, you can source the workspace and launch one of the example Gazebo simulations: 
+
+.. code-block:: bash
+
+    source ~/ros2_ws/install/setup.sh
+    ros2 launch ardupilot_gz_bringup iris_runway.launch.py
+
+To see all the exemples available, as well as more information regarding the package in general, refer to `ardupilot_gz/README.md <https://github.com/ArduPilot/ardupilot_gz#ardupilot_gz>`__.
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