Add documentation to public API and create documentation artifacts (e.g., website, PDF, etc.)

[marip8]

Now that the code-base exists and seems to be functional, it would be beneficial to use an agent to make a first pass at creating documentation for the public API (e.g., using Doxygen) and to compile that documentation into HTML format (potentially hosted on the Github Pages site for this repository). This would be beneficial for end-users to become familiar with how to use the API and can help on-board new developers more effectively.

[marip8]

I've done the Doxygen+Github Pages workflow for several ROS-Industrial projects before. That should be relatively easy to set up for this project if that's the direction you would like to go