diff --git a/ur_rtde_driver/doc/rosdoc.yaml b/ur_rtde_driver/doc/rosdoc.yaml
new file mode 100644
index 0000000..58ee1ca
--- /dev/null
+++ b/ur_rtde_driver/doc/rosdoc.yaml
@@ -0,0 +1,4 @@
+- builder: doxygen
+   name: C++ API
+   output_dir: c++
+   file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
diff --git a/ur_rtde_driver/package.xml b/ur_rtde_driver/package.xml
index 6396cec..4d47acb 100644
--- a/ur_rtde_driver/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -42,4 +42,8 @@
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>
 
+  <export>
+    <rosdoc config="rosdoc.yaml" />
+  </export>
+
 </package>