diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 982cdfe..fb2b0d0 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -45,3 +45,11 @@ coverage:
     - colcon coveragepy-result --packages-select $PACKAGES_LIST --verbose --coverage-report-args -m
   allow_failure: true
   <<: *global_artifacts
+
+trigger_gen_docs:
+  stage: report
+  only:
+    refs:
+      - master
+      - foxy
+  trigger: micro-ROS/ros_tracing/tracetools_analysis-api
diff --git a/tracetools_analysis/docs/.gitignore b/tracetools_analysis/docs/.gitignore
new file mode 100644
index 0000000..567609b
--- /dev/null
+++ b/tracetools_analysis/docs/.gitignore
@@ -0,0 +1 @@
+build/
diff --git a/tracetools_analysis/docs/Makefile b/tracetools_analysis/docs/Makefile
new file mode 100644
index 0000000..69fe55e
--- /dev/null
+++ b/tracetools_analysis/docs/Makefile
@@ -0,0 +1,19 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
\ No newline at end of file
diff --git a/tracetools_analysis/docs/source/about.rst b/tracetools_analysis/docs/source/about.rst
new file mode 100644
index 0000000..0e281d6
--- /dev/null
+++ b/tracetools_analysis/docs/source/about.rst
@@ -0,0 +1,4 @@
+About
+=====
+
+Tools for analyzing trace data from ROS 2 systems generated by the `ros2_tracing packages <https://index.ros.org/r/ros2_tracing/gitlab-micro-ROS-ros_tracing-ros2_tracing/>`_.
diff --git a/tracetools_analysis/docs/source/api.rst b/tracetools_analysis/docs/source/api.rst
new file mode 100644
index 0000000..1cfb540
--- /dev/null
+++ b/tracetools_analysis/docs/source/api.rst
@@ -0,0 +1,8 @@
+API
+===
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   api/tracetools_analysis
diff --git a/tracetools_analysis/docs/source/api/tracetools_analysis.rst b/tracetools_analysis/docs/source/api/tracetools_analysis.rst
new file mode 100644
index 0000000..f77b1bc
--- /dev/null
+++ b/tracetools_analysis/docs/source/api/tracetools_analysis.rst
@@ -0,0 +1,82 @@
+tracetools_analysis
+===================
+
+loading
+#######
+
+.. automodule:: tracetools_analysis.loading
+
+processor
+#########
+
+.. automodule:: tracetools_analysis.processor
+
+CPU time
+********
+
+.. automodule:: tracetools_analysis.processor.cpu_time
+
+memory usage
+************
+
+.. automodule:: tracetools_analysis.processor.memory_usage
+
+profile
+*******
+
+.. automodule:: tracetools_analysis.processor.profile
+
+ROS 2
+*****
+
+.. automodule:: tracetools_analysis.processor.ros2
+
+data model
+##########
+
+.. automodule:: tracetools_analysis.data_model
+
+CPU time
+********
+
+.. automodule:: tracetools_analysis.data_model.cpu_time
+
+memory usage
+************
+
+.. automodule:: tracetools_analysis.data_model.memory_usage
+
+profile
+*******
+
+.. automodule:: tracetools_analysis.data_model.profile
+
+ROS 2
+*****
+
+.. automodule:: tracetools_analysis.data_model.ros2
+
+utils
+#####
+
+.. automodule:: tracetools_analysis.utils
+
+CPU time
+********
+
+.. automodule:: tracetools_analysis.utils.cpu_time
+
+memory usage
+************
+
+.. automodule:: tracetools_analysis.utils.memory_usage
+
+profile
+*******
+
+.. automodule:: tracetools_analysis.utils.profile
+
+ROS 2
+*****
+
+.. automodule:: tracetools_analysis.utils.ros2
diff --git a/tracetools_analysis/docs/source/conf.py b/tracetools_analysis/docs/source/conf.py
new file mode 100644
index 0000000..b81d861
--- /dev/null
+++ b/tracetools_analysis/docs/source/conf.py
@@ -0,0 +1,208 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+# tracetools_analysis
+sys.path.insert(0, os.path.abspath('../../'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'tracetools_test'
+copyright = '2019-2020, Robert Bosch GmbH & Christophe Bedard'  # noqa
+author = 'Robert Bosch GmbH, Christophe Bedard'
+
+# The short X.Y version
+version = os.environ.get('SPHINX_VERSION_SHORT', '')
+# The full version, including alpha/beta/rc tags
+release = os.environ.get('SPHINX_VERSION_FULL', '')
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx_autodoc_typehints',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.doctest',
+    'sphinx.ext.coverage',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+# exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+# html_static_path = []
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'tracetools_analysis-doc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+# latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#
+# 'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#
+# 'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#
+# 'preamble': '',
+
+# Latex figure (float) alignment
+#
+# 'figure_align': 'htbp',
+# }
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+# latex_documents = [
+#     (master_doc, 'rclpy.tex', 'rclpy Documentation',
+#      'Esteve Fernandez', 'manual'),
+# ]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+# man_pages = [
+#     (master_doc, 'rclpy', 'rclpy Documentation',
+#      [author], 1)
+# ]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+# texinfo_documents = [
+#     (master_doc, 'rclpy', 'rclpy Documentation',
+#      author, 'rclpy', 'One line description of project.',
+#      'Miscellaneous'),
+# ]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+# epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+# Ignore these
+autodoc_mock_imports = [
+    'tracetools_read',
+]
+
+autoclass_content = 'both'
+
+autodoc_default_options = {
+    'members': None,
+    'undoc-members': True,
+}
diff --git a/tracetools_analysis/docs/source/index.rst b/tracetools_analysis/docs/source/index.rst
new file mode 100644
index 0000000..91b16d3
--- /dev/null
+++ b/tracetools_analysis/docs/source/index.rst
@@ -0,0 +1,17 @@
+tracetools_analysis
+===================
+
+tracetools_analysis provides tools for analyzing trace data from ROS 2 systems generated by the `ros2_tracing packages <https://index.ros.org/r/ros2_tracing/gitlab-micro-ROS-ros_tracing-ros2_tracing/>`_.
+
+.. toctree::
+   :maxdepth: 4
+
+   about
+   api
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/tracetools_analysis/test/tracetools_analysis/test_loading.py b/tracetools_analysis/test/tracetools_analysis/test_loading.py
index f60a82f..f28c6ce 100644
--- a/tracetools_analysis/test/tracetools_analysis/test_loading.py
+++ b/tracetools_analysis/test/tracetools_analysis/test_loading.py
@@ -21,7 +21,7 @@ import shutil
 import tempfile
 import unittest
 
-from tracetools_analysis.loading import inspect_input_path
+from tracetools_analysis.loading import _inspect_input_path
 
 
 class TestLoading(unittest.TestCase):
@@ -68,28 +68,28 @@ class TestLoading(unittest.TestCase):
         quiet: bool = False,
     ) -> None:
         # Should find converted file under directory
-        file_path, create_file = inspect_input_path(self.with_converted_file_dir, False, quiet)
+        file_path, create_file = _inspect_input_path(self.with_converted_file_dir, False, quiet)
         self.assertEqual(self.converted_file_path, file_path)
         self.assertFalse(create_file)
         # Should find it but set it to be re-created
-        file_path, create_file = inspect_input_path(self.with_converted_file_dir, True, quiet)
+        file_path, create_file = _inspect_input_path(self.with_converted_file_dir, True, quiet)
         self.assertEqual(self.converted_file_path, file_path)
         self.assertTrue(create_file)
 
         # Should fail to find converted file under directory
-        file_path, create_file = inspect_input_path(self.without_converted_file_dir, False, quiet)
+        file_path, create_file = _inspect_input_path(self.without_converted_file_dir, False, quiet)
         self.assertIsNone(file_path)
         self.assertFalse(create_file)
-        file_path, create_file = inspect_input_path(self.without_converted_file_dir, True, quiet)
+        file_path, create_file = _inspect_input_path(self.without_converted_file_dir, True, quiet)
         self.assertIsNone(file_path)
         self.assertFalse(create_file)
 
         # Should accept any file path if it exists
-        file_path, create_file = inspect_input_path(self.random_file_path, False, quiet)
+        file_path, create_file = _inspect_input_path(self.random_file_path, False, quiet)
         self.assertEqual(self.random_file_path, file_path)
         self.assertFalse(create_file)
         # Should set it to be re-created
-        file_path, create_file = inspect_input_path(self.random_file_path, True, quiet)
+        file_path, create_file = _inspect_input_path(self.random_file_path, True, quiet)
         self.assertEqual(self.random_file_path, file_path)
         self.assertTrue(create_file)
 
diff --git a/tracetools_analysis/tracetools_analysis/loading/__init__.py b/tracetools_analysis/tracetools_analysis/loading/__init__.py
index 48ff642..0b8a183 100644
--- a/tracetools_analysis/tracetools_analysis/loading/__init__.py
+++ b/tracetools_analysis/tracetools_analysis/loading/__init__.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Module for converted trace file loading."""
+"""Module for loading traces."""
 
 import os
 import pickle
@@ -28,7 +28,7 @@ from ..convert import convert
 from ..convert import DEFAULT_CONVERT_FILE_NAME
 
 
-def inspect_input_path(
+def _inspect_input_path(
     input_path: str,
     force_conversion: bool = False,
     quiet: bool = False,
@@ -96,7 +96,7 @@ def inspect_input_path(
             return converted_file_path, False
 
 
-def convert_if_needed(
+def _convert_if_needed(
     input_path: str,
     force_conversion: bool = False,
     quiet: bool = False,
@@ -109,7 +109,7 @@ def convert_if_needed(
     :param quiet: whether to not print any output
     :return: the path to the converted file, or `None` if it failed
     """
-    converted_file_path, create_converted_file = inspect_input_path(
+    converted_file_path, create_converted_file = _inspect_input_path(
         input_path,
         force_conversion,
         quiet,
@@ -143,7 +143,7 @@ def load_file(
     :return: the list of events read from the file
     """
     if do_convert_if_needed or force_conversion:
-        file_path = convert_if_needed(input_path, force_conversion, quiet)
+        file_path = _convert_if_needed(input_path, force_conversion, quiet)
     else:
         file_path = input_path
 
diff --git a/tracetools_analysis/tracetools_analysis/processor/ros2.py b/tracetools_analysis/tracetools_analysis/processor/ros2.py
index e46d5b4..8fbcc28 100644
--- a/tracetools_analysis/tracetools_analysis/processor/ros2.py
+++ b/tracetools_analysis/tracetools_analysis/processor/ros2.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Module for trace events processor and ROS model creation."""
+"""Module for trace events processor and ROS 2 model creation."""
 
 from typing import Dict
 from typing import Set