Consists of the following parts:

• Doxygen to introspect the C++ code and generate XML output
• Breathe to convert Doxygen's XML output to a Sphinx readable format
• Sphinx to do the actual generation of the documentation

GitHub actions pulls the Docker documentation environment from the RSL Harbor hub (https://registry.leggedrobotics.com/).

# in the ocs2_doc directory, where `Dockerfile` resides. 
docker build -t registry.leggedrobotics.com/ocs2/doc . 
# you need push access to `https://registry.leggedrobotics.com/`
docker push registry.leggedrobotics.com/ocs2/doc