diff --git a/.earthlyignore b/.earthlyignore
new file mode 100644
index 000000000..fab2394f8
--- /dev/null
+++ b/.earthlyignore
@@ -0,0 +1,19 @@
+# https://docs.docker.com/build/concepts/context/#dockerignore-files
+# Unlike .gitignore files directories are not ignored at all layers by default.
+# The **/ prefix will make a pattern behave like a .gitignore pattern and apply
+# in any directory, including the root.
+**/*.pyc
+**/.direnv/
+**/.envrc
+**/.git/
+**/.github/
+**/.pytest_cache/
+**/.ruff_cache/
+**/__pycache__/
+**/_build/
+**/build/
+**/deb_dist/
+**/dist/
+**/rosdep.egg-info/
+**/rosdep_modules.egg-info/
+**/target/
diff --git a/.github/workflows/doc.yaml b/.github/workflows/doc.yaml
new file mode 100644
index 000000000..e715c8e2a
--- /dev/null
+++ b/.github/workflows/doc.yaml
@@ -0,0 +1,33 @@
+---
+name: Doc build
+on:
+  push:
+    branches: ['main', 'docdeps']
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: earthly/actions-setup@v1
+      - name: Build documentation
+        run: |
+          earthly --ci --output +doc
+      - name: Upload build for GitHub Pages
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: doc/_build/html
+  deploy:
+    permissions:
+      contents: read
+      id-token: write
+      pages: write
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    needs: build
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4
diff --git a/build.earth b/build.earth
new file mode 100644
index 000000000..e932e204b
--- /dev/null
+++ b/build.earth
@@ -0,0 +1,35 @@
+VERSION 0.8
+
+build:
+  FROM docker.io/library/python:3.12
+  RUN mkdir -p /src || true
+  COPY --dir doc src test \
+    CHANGELOG.rst \
+    Makefile \
+    README.md \
+    rosdoc.yaml \
+    setup.cfg \
+    setup.py \
+    stdeb.cfg \
+    /src/rosdep
+  WORKDIR /src/rosdep
+  RUN pip install -e .
+
+testdeps:
+  FROM +build
+  RUN pip install .[test]
+
+test:
+  # TODO tests aren't passing in context.
+  FROM +testdeps
+  RUN pytest test
+
+docdeps:
+  FROM +build
+  RUN pip install .[doc]
+
+doc:
+  FROM +docdeps
+  WORKDIR /src/rosdep/doc
+  RUN make html
+  SAVE ARTIFACT _build/html AS LOCAL doc/_build/html
diff --git a/doc/conf.py b/doc/conf.py
index 583cc4d4c..a18ea3f99 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -232,4 +232,4 @@
 
 
 # Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {'http://docs.python.org/': None}
+# intersphinx_mapping = {'http://docs.python.org/': None}
diff --git a/setup.py b/setup.py
index 9f4a17d79..fa3d3d93b 100644
--- a/setup.py
+++ b/setup.py
@@ -22,6 +22,10 @@
             'flake8-quotes',
             'pytest',
         ],
+        'doc': [
+            'catkin_sphinx',
+            'sphinx'
+        ],
     },
     'author': 'Tully Foote, Ken Conley',
     'author_email': 'tfoote@osrfoundation.org',