diff --git a/README.md b/README.md
index b4ec3de..53fc474 100644
--- a/README.md
+++ b/README.md
@@ -144,4 +144,14 @@ ros2 bag convert \
   -i robot_drive_old/ \
   -o robot_drive_mcap/ \
   --output-options '{"storage_id": "mcap"}'
+```
+
+
+<!-- Generate Doc -->
+```bash
+chmod +x doc/build_docs.sh
+
+./build_docs.sh #Собирает статику в mkdocs/site/
+./build_docs.sh build # То же самое явно
+./build_docs.sh serve # Live-preview с авто-перезагрузкой
 ```
\ No newline at end of file
diff --git a/src/doc/AMENT_IGNORE b/doc/AMENT_IGNORE
similarity index 100%
rename from src/doc/AMENT_IGNORE
rename to doc/AMENT_IGNORE
diff --git a/doc/build_docs.sh b/doc/build_docs.sh
new file mode 100755
index 0000000..9bd96e6
--- /dev/null
+++ b/doc/build_docs.sh
@@ -0,0 +1,69 @@
+#!/bin/bash
+
+# Configure the Docker image and the MkDocs directory
+DOCKER_IMAGE="squidfunk/mkdocs-material"
+MKDOCS_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/iiwa-ros-doc" && pwd)"
+
+# Define color codes for logging
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+log_info()    { echo -e "${GREEN}[INFO]${NC}  $1"; }
+log_warn()    { echo -e "${YELLOW}[WARN]${NC}  $1"; }
+log_error()   { echo -e "${RED}[ERROR]${NC} $1"; }
+
+
+# Check for Docker and the MkDocs directory
+if ! command -v docker &> /dev/null; then
+    log_error "Docker не найден. Установи Docker и повтори."
+    exit 1
+fi
+
+if [ ! -d "$MKDOCS_DIR" ]; then
+    log_error "Папка mkdocs не найдена: $MKDOCS_DIR"
+    exit 1
+fi
+
+if [ ! -f "$MKDOCS_DIR/mkdocs.yml" ]; then
+    log_error "Файл mkdocs.yml не найден в $MKDOCS_DIR"
+    exit 1
+fi
+
+# Determine the mode (build or serve)
+MODE="${1:-build}"
+
+case "$MODE" in
+    build)
+        log_info "Сборка документации (build)..."
+        docker run --rm \
+            -v "$MKDOCS_DIR:/docs" \
+            "$DOCKER_IMAGE" build
+        if [ $? -eq 0 ]; then
+            log_info "Готово! Результат: $MKDOCS_DIR/site/"
+        else
+            log_error "Сборка завершилась с ошибкой."
+            exit 1
+        fi
+        ;;
+
+    serve)
+        log_info "Запуск dev-сервера на http://localhost:8000 ..."
+        log_warn "Остановка: Ctrl+C"
+        docker run --rm -it \
+            -p 8000:8000 \
+            -v "$MKDOCS_DIR:/docs" \
+            "$DOCKER_IMAGE" serve \
+            --dev-addr=0.0.0.0:8000 \
+            --watch /docs \
+            --livereload
+        ;;
+
+    *)
+        echo "Использование: $0 [build|serve]"
+        echo "  build  — собрать статику в mkdocs/site/ (по умолчанию)"
+        echo "  serve  — запустить live-preview на localhost:8000"
+        exit 1
+        ;;
+esac
\ No newline at end of file
diff --git a/doc/iiwa-ros-doc/docs/index.md b/doc/iiwa-ros-doc/docs/index.md
new file mode 100644
index 0000000..8dcb47d
--- /dev/null
+++ b/doc/iiwa-ros-doc/docs/index.md
@@ -0,0 +1,17 @@
+# Welcome to MkDocs выq
+
+For full documentation visit [mkdocs.org](https://www.mkdocs.org).
+
+## Commands
+
+* `mkdocs new [dir-name]` - Create a new project.
+* `mkdocs serve` - Start the live-reloading docs server.
+* `mkdocs build` - Build the documentation site.
+* `mkdocs -h` - Print help message and exit.
+
+## Project layout
+
+    mkdocs.yml    # The configuration file.
+    docs/
+        index.md  # The documentation homepage.
+        ...       # Other markdown pages, images and other files.
diff --git a/doc/iiwa-ros-doc/mkdocs.yml b/doc/iiwa-ros-doc/mkdocs.yml
new file mode 100644
index 0000000..cb3c9ab
--- /dev/null
+++ b/doc/iiwa-ros-doc/mkdocs.yml
@@ -0,0 +1,43 @@
+site_name: Документация НОЦ ПРиППТ
+site_description: Документация по использованию коллаборативного робота KUKA LBR iiwa 7 и его программированию в среде ROS 2.
+site_author: Даниил Грабарь
+
+theme:
+  name: material
+  language: ru
+  features:
+    - navigation.tabs           # вкладки сверху
+    - navigation.tabs.sticky    # вкладки остаются при скролле
+    - navigation.sections       # разделы в боковой панели
+    - navigation.expand         # раскрывать разделы автоматически
+    - navigation.top            # кнопка "наверх"
+    - search.highlight
+
+markdown_extensions:
+  - admonition
+  - pymdownx.highlight
+  - pymdownx.superfences
+
+nav:
+  - Главная: index.md          # ← вкладка 1
+
+  # - Обзор проекта:             # ← вкладка 2
+  #   - Введение: overview/intro.md
+  #   - Архитектура: overview/architecture.md
+  #   - Зависимости: overview/dependencies.md
+
+  # - Установка:                 # ← вкладка 3
+  #   - Требования: install/requirements.md
+  #   - ROS2: install/ros2.md
+  #   - KUKA FRI: install/fri.md
+
+  # - Разработка:                # ← вкладка 4
+  #   - Структура пакетов: dev/packages.md
+  #   - Камеры RealSense: dev/realsense.md
+  #   - Управление KUKA: dev/kuka.md
+  #   - Сборка: dev/build.md
+
+  # - API:                       # ← вкладка 5
+  #   - Обзор: api/overview.md
+  #   - Топики: api/topics.md
+    # - Сервисы: api/services.md
\ No newline at end of file
diff --git a/src/doc/pdf/KUKA_SunriseApplicationFramework_12_en.pdf b/doc/pdf/KUKA_SunriseApplicationFramework_12_en.pdf
similarity index 100%
rename from src/doc/pdf/KUKA_SunriseApplicationFramework_12_en.pdf
rename to doc/pdf/KUKA_SunriseApplicationFramework_12_en.pdf
diff --git a/src/doc/pdf/KUKA_SunriseFRI_116_en.pdf b/doc/pdf/KUKA_SunriseFRI_116_en.pdf
similarity index 100%
rename from src/doc/pdf/KUKA_SunriseFRI_116_en.pdf
rename to doc/pdf/KUKA_SunriseFRI_116_en.pdf
diff --git a/src/doc/pdf/KUKA_SunriseOS_116_SI_en.pdf b/doc/pdf/KUKA_SunriseOS_116_SI_en.pdf
similarity index 100%
rename from src/doc/pdf/KUKA_SunriseOS_116_SI_en.pdf
rename to doc/pdf/KUKA_SunriseOS_116_SI_en.pdf
diff --git a/src/doc/pdf/KUKA_SunriseServoing_116_en.pdf b/doc/pdf/KUKA_SunriseServoing_116_en.pdf
similarity index 100%
rename from src/doc/pdf/KUKA_SunriseServoing_116_en.pdf
rename to doc/pdf/KUKA_SunriseServoing_116_en.pdf
diff --git a/src/doc/pdf/RealSense D400 Series_en.pdf b/doc/pdf/RealSense D400 Series_en.pdf
similarity index 100%
rename from src/doc/pdf/RealSense D400 Series_en.pdf
rename to doc/pdf/RealSense D400 Series_en.pdf