diff --git a/rosdoc2.yaml b/rosdoc2.yaml
new file mode 100644
index 00000000..5311490d
--- /dev/null
+++ b/rosdoc2.yaml
@@ -0,0 +1,68 @@
+## Default configuration, generated by rosdoc2.
+
+## This 'attic section' self-documents this file's type and version.
+type: 'rosdoc2 config'
+version: 1
+
+---
+
+settings:
+    ## If this is true, a standard index page is generated in the output directory.
+    ## It uses the package information from the 'package.xml' to show details
+    ## about the package, creates a table of contents for the various builders
+    ## that were run, and may contain links to things like build farm jobs for
+    ## this package or links to other versions of this package.
+
+    ## If false, you can still include content that would have been in the index
+    ## into one of your '.rst' files from your Sphinx project, using the
+    ## '.. include::' directive in Sphinx.
+    ## For example, you could include it in a custom 'index.rst' so you can have
+    ## the standard information followed by custom content.
+
+    ## TODO(wjwwood): provide a concrete example of this (relative path?)
+
+    ## If this is not specified explicitly, it defaults to 'true'.
+    generate_package_index: true
+
+    ## This setting is relevant mostly if the standard Python package layout cannot
+    ## be assumed for 'sphinx-apidoc' invocation. The user can provide the path
+    ## (relative to the 'package.xml' file) where the Python modules defined by this
+    ## package are located.
+    python_source: 'realtime_tools'
+
+    ## This setting, if true, attempts to run `doxygen` and the `breathe`/`exhale`
+    ## extensions to `sphinx` regardless of build type. This is most useful if the
+    ## user would like to generate C/C++ API documentation for a package that is not
+    ## of the `ament_cmake/cmake` build type.
+    always_run_doxygen: false
+
+    ## This setting, if true, attempts to run `sphinx-apidoc` regardless of build
+    ## type. This is most useful if the user would like to generate Python API
+    ## documentation for a package that is not of the `ament_python` build type.
+    always_run_sphinx_apidoc: false
+
+    # This setting, if provided, will override the build_type of this package
+    # for documentation purposes only. If not provided, documentation will be
+    # generated assuming the build_type in package.xml.
+    # override_build_type: 'ament_python'
+builders:
+    ## Each stanza represents a separate build step, performed by a specific 'builder'.
+    ## The key of each stanza is the builder to use; this must be one of the
+    ## available builders.
+    ## The value of each stanza is a dictionary of settings for the builder that
+    ## outputs to that directory.
+    ## Required keys in the settings dictionary are:
+    ##  * 'output_dir' - determines output subdirectory for builder instance
+    ##                   relative to --output-directory
+    ##  * 'name' - used when referencing the built docs from the index.
+
+    - doxygen: {
+        name: 'realtime_tools Public C/C++ API',
+        output_dir: 'generated/doxygen'
+    }
+    - sphinx: {
+        name: 'realtime_tools',
+        ## This path is relative to output staging.
+        doxygen_xml_directory: 'generated/doxygen/xml',
+        output_dir: ''
+    }