This Sphinx configuration is fully dynamic configured for any catkin package with a python module. Add it as a submodule (or similar) to your package in the desired folder. Also add the following dependencies to your package.xml :
<doc_depend>python3-sphinx</doc_depend>
<doc_depend>python-sphinx-autoapi-pip</doc_depend>
<doc_depend>python-sphinx-rtd-theme-pip</doc_depend>
<doc_depend>python3-yaml</doc_depend>Note: This requires package format 2 or 3