diff --git a/.github/workflows/doxygen.yaml b/.github/workflows/doxygen.yaml
new file mode 100644
index 0000000..f7143a2
--- /dev/null
+++ b/.github/workflows/doxygen.yaml
@@ -0,0 +1,68 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Doxygen
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - ros2
+
+jobs:
+  doxygen:
+    env:
+      ROS_DISTRO: rolling
+      NOT_TEST_BUILD: true
+      # Clear the ccache stats before and log the stats after the build
+      AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
+      AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats
+      AFTER_AFTER_BUILD_TARGET_WORKSPACE: >
+        set +u &&
+        source /opt/ros/rolling/setup.bash &&
+        cd /home/runner/work/bio_ik/bio_ik/.work/target_ws &&
+        colcon build --event-handlers console_direct+ desktop_notification- status- terminal_title- --cmake-args -DENABLE_DOXYGEN=ON --cmake-target doxygen-docs
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      ADDITIONAL_DEBS: doxygen graphviz
+
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: Cache target workspace
+        uses: pat-s/always-upload-cache@v2.1.5
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: target_ws-doxygen-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
+      - name: Cache ccache
+        uses: pat-s/always-upload-cache@v2.1.5
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: doxygen-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            doxygen-${{ github.sha }}
+            doxygen
+      - id: ici
+        name: Run industrial_ci
+        uses: ros-industrial/industrial_ci@master
+      - name: Upload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
+        with:
+          name: test-results-doxygen
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: Prepare target_ws for cache
+        if: always()
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@4.1.7
+        with:
+          branch: gh-pages
+          folder: ${{ env.BASEDIR }}/target_ws/build/bio_ik/html
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
new file mode 100644
index 0000000..26d9b06
--- /dev/null
+++ b/.github/workflows/prerelease.yaml
@@ -0,0 +1,29 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: pre-release
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - ros2
+
+jobs:
+  default:
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [galactic, rolling]
+
+    env:
+      ROS_DISTRO: ${{ matrix.distro }}
+      PRERELEASE: true
+      BASEDIR: ${{ github.workspace }}/.work
+
+    name: "${{ matrix.distro }}-pre-release"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
diff --git a/README.md b/README.md
index c42c5b8..efae452 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,9 @@
 # bio-ik
+[![Formatting (pre-commit)](https://github.com/tylerjw/bio_ik/actions/workflows/format.yaml/badge.svg?branch=ros2)](https://github.com/tylerjw/bio_ik/actions/workflows/format.yaml?query=branch%3Aros2)
+[![CI](https://github.com/tylerjw/bio_ik/actions/workflows/ci.yaml/badge.svg?branch=ros2)](https://github.com/tylerjw/bio_ik/actions/workflows/ci.yaml?query=branch%3Aros2)
+[![Pre-release](https://github.com/tylerjw/bio_ik/actions/workflows/prerelease.yaml/badge.svg?branch=ros2)](https://github.com/tylerjw/bio_ik/actions/workflows/prerelease.yaml?query=branch%3Aros2)
+[![Doxygen](https://github.com/tylerjw/bio_ik/actions/workflows/doxygen.yaml/badge.svg?branch=ros2)](https://github.com/tylerjw/bio_ik/actions/workflows/doxygen.yaml?query=branch%3Aros2)
+[![Code Coverage](https://codecov.io/gh/tylerjw/bio_ik/branch/ros2/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/tylerjw/arm_teleop)
 
 ## Disclaimer