diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 3887c2ad8..352725477 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -25,7 +25,6 @@
 				"UBCSailbot/boat_simulator": {"permissions": "write-all"},
 				"UBCSailbot/controller": {"permissions": "write-all"},
 				"UBCSailbot/custom_interfaces": {"permissions": "write-all"},
-				"UBCSailbot/docs": {"permissions": "write-all"},
 				"UBCSailbot/local_pathfinding": {"permissions": "write-all"},
 				"UBCSailbot/network_systems": {"permissions": "write-all"},
 				"UBCSailbot/notebooks": {"permissions": "write-all"},
diff --git a/.devcontainer/docker-compose.docs.yml b/.devcontainer/docker-compose.docs.yml
index 4bd4d734d..b1e4be2df 100644
--- a/.devcontainer/docker-compose.docs.yml
+++ b/.devcontainer/docker-compose.docs.yml
@@ -8,7 +8,7 @@ services:
       context: ..
       dockerfile: .devcontainer/docs/docs.Dockerfile
     volumes:
-      - ../src/docs:/docs:cached
+      - ..:/docs:cached
 
     # Runs on the same network as the workspace container, allows "forwardPorts" in devcontainer.json function.
     network_mode: service:sailbot-workspace
diff --git a/.devcontainer/docs/docs.Dockerfile b/.devcontainer/docs/docs.Dockerfile
index 2622f81ac..324c87478 100644
--- a/.devcontainer/docs/docs.Dockerfile
+++ b/.devcontainer/docs/docs.Dockerfile
@@ -1,7 +1,7 @@
 FROM squidfunk/mkdocs-material
 
 # get docs requirements file
-COPY ./src/docs/docs/requirements.txt /requirements.txt
+COPY ./docs/requirements.txt /requirements.txt
 
 # install requirements
 RUN pip install -Ur /requirements.txt
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 5761d6a1d..cb5366a99 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -6,3 +6,6 @@
 # these owners will be requested for
 # review when someone opens a pull request.
 * @patrick-5546
+
+# docs
+/docs/ @DFriend01
diff --git a/.github/actions/ament-lint/run.sh b/.github/actions/ament-lint/run.sh
index 4bc8efe99..aae11d7dc 100755
--- a/.github/actions/ament-lint/run.sh
+++ b/.github/actions/ament-lint/run.sh
@@ -54,7 +54,7 @@ if [[ $LOCAL_RUN != "true" ]]; then
 fi
 
 # Exclude repos and files we don't want to lint
-VALID_SRC_DIRS=$(ls src | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e website -e notebooks -e polaris.repos)
+VALID_SRC_DIRS=$(ls src | grep -v -e virtual_iridium -e raye-local-pathfinding -e website -e notebooks -e polaris.repos)
 lint_errors=0
 
 # Loop over each directory and lint it
diff --git a/.github/actions/docs-lint/action.yml b/.github/actions/docs-lint/action.yml
new file mode 100644
index 000000000..eb3e71ff9
--- /dev/null
+++ b/.github/actions/docs-lint/action.yml
@@ -0,0 +1,7 @@
+name: 'Lint New Tab Links'
+description: 'Check links to external sites redirect to a new tab'
+runs:
+  using: "composite"
+  steps:
+    - run: python3 $GITHUB_ACTION_PATH/lint_links.py -r $ROOT -c $CONFIG_FILE
+      shell: bash
diff --git a/.github/actions/docs-lint/lint_links.py b/.github/actions/docs-lint/lint_links.py
new file mode 100644
index 000000000..3a85f1169
--- /dev/null
+++ b/.github/actions/docs-lint/lint_links.py
@@ -0,0 +1,236 @@
+## IMPORTS
+import os
+import sys
+import re
+import json
+import argparse
+
+## CONSTANTS
+REGEX_PATTERN = r"(?<!!)\[.*?\]\(\s*https?:\/\/[^\(\)]+\)(?!\{\s*:?\s*target\s*=\s*(?:\s*_blank\s*|\s*\"\s*_blank\s*\"\s*)\})"
+LINK_REGEX = r"https?:\/\/(www\.)?[-a-zA-Z0-9@:%._\+~#=]{1,256}\.[a-zA-Z0-9()]{1,6}\b([-a-zA-Z0-9()@:%_\+.~#?&//=]*)"
+PASSED_MSG = "[PASSED]"
+FAILED_MSG = "[FAILED]"
+ERROR_MSG1 = "External links should redirect to a new tab. Change the link to "
+ERROR_MSG2 = "{target=_blank}"
+ROOT_DEFAULT = "./"
+CONFIG_DEFAULT = ""
+
+
+# Annotation strings for GitHub error annotations
+annotations = []
+
+
+## MAIN LOGIC
+def main():
+    args = parseInputArguments()
+    root = args.root if args.root else ROOT_DEFAULT
+    config_file = args.config if args.config else CONFIG_DEFAULT
+
+    # Perform the linting process
+    ignore_patterns = get_ignore_patterns(config_file)
+    ignore_files = get_ignore_files(config_file)
+    markdown_files = get_markdown_files(root, ignore_files)
+    passed = lint_markdown_files(markdown_files, REGEX_PATTERN, ignore_patterns)
+
+    # If linting fails, print any annotations to stderr for GitHub and exit with status code 1
+    if not passed:
+        print("\n".join(annotations), file=sys.stderr)
+        sys.exit(1)
+
+
+## HELPER FUNCTIONS
+def parseInputArguments():
+    """
+    Parses command line arguments for the root directory and configuration file.
+
+    Returns:
+        Namespace: A namespace object used for accessing command line arguments.
+    """
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-r', '--root', default=ROOT_DEFAULT, nargs='?', type=str, help='Path to root directory where linting begins')
+    parser.add_argument('-c', '--config', default=CONFIG_DEFAULT, nargs='?', type=str, help='Path to a JSON configuration file specifying ignore files and patterns')
+    args = parser.parse_args()
+    return args
+
+
+def get_ignore_patterns(config_file):
+    """
+    Obtain a list of patterns to ignore specified in the configuration file whose path is specified as a command line argument.
+
+    Args:
+        config_file (str): The path of the configuration file relative to the root.
+
+    Returns:
+        List[str]: A list of regex patterns to ignore when performing linting.
+    """
+    if not os.path.isfile(config_file):
+        print("Warning: Configuration file not found", file=sys.stderr)
+        return []
+
+    ignore_patterns = []
+    with open(config_file) as f:
+        data = json.load(f)
+        ignore_patterns = [row["pattern"] for row in data.get("ignorePatterns", []) if "pattern" in row]
+    return ignore_patterns
+
+
+def get_ignore_files(config_file):
+    """
+    Obtain a list of files to ignore specified in the configuration file whose path is specified as a command line argument.
+
+    Args:
+        config_file (str): The path of the configuration file relative to the root.
+
+    Returns:
+        List[str]: A list of markdown file paths (relative to the root) to ignore when performing linting.
+    """
+    if not os.path.isfile(config_file):
+        print("Warning: Configuration file not found", file=sys.stderr)
+        return []
+
+    ignore_files = []
+    with open(config_file) as f:
+        data = json.load(f)
+        ignore_files = [row["file"] for row in data.get("ignoreFiles", []) if "file" in row]
+    return ignore_files
+
+
+def get_markdown_files(root_dir, ignore_files):
+    """
+    Recursively searches for markdown files (.md) starting at a specified root directory.
+
+    Args:
+        root_dir (str): The root directory to start the search at.
+        ignore_files (List[str]): A list of markdown file paths to ignore.
+
+    Returns:
+        List[str]: A list of markdown file paths relative to the root directory.
+    """
+    markdown_files = []
+    markdown_matcher = re.compile(r".+\.md")
+    for root, dirs, files in os.walk(root_dir):
+        markdown_file_basenames = filter(lambda f: markdown_matcher.match(f) is not None, files)
+        markdown_files_with_full_path = map(lambda f: os.path.join(root, f), markdown_file_basenames)
+        markdown_files_to_keep = filter(lambda f: f not in ignore_files, markdown_files_with_full_path)
+        markdown_files += list(markdown_files_to_keep)
+    return markdown_files
+
+
+def lint_markdown_files(files, pattern, ignore_patterns):
+    """
+    Lints all specified markdown files and checks for any links to outside the Sailbot Docs website
+    that do not redirect to a new tab. If any such links exists, the linting process fails.
+
+    Args:
+        files (List[str]): A list of markdown file paths relative to some root directory.
+        pattern (str): A raw string containing the regular expression pattern to be used for linting.
+        ignore_patterns (List[str]): A list of regex patterns to ignore.
+
+    Returns:
+        bool: Returns True if the linting process succeeds for all markdown files and False otherwise.
+    """
+    passed = True
+    num_passed = 0
+    num_checks = len(files)
+
+    for n, file in enumerate(files):
+        check_passed, error_message = check_markdown_file(file, pattern, ignore_patterns)
+        passed = (passed and check_passed)
+        num_passed += int(check_passed)
+        print_check_message(file, check_passed, n+1, error_message)
+
+    print(f"{num_passed}/{num_checks} checks passed")
+
+    return passed
+
+
+def check_markdown_file(filename, pattern, ignore_patterns):
+    """
+    Lints a specified markdown file.
+
+    Args:
+        filename (str): The path to the markdown file relative to some root directory.
+        pattern (str): A raw string containing the regular expression pattern to be used for linting.
+        ignore_patterns (List[str]): A list of regex patterns to ignore.
+
+    Returns:
+        tuple[bool, str]: Returns a tuple containing two variables:
+            1. A boolean variable that indicates if the check passes
+            2. A string containing an error message. This string is empty if the check passes.
+    """
+    passed = True
+    error_message_buffer = ""
+
+    with open(filename) as file:
+        for line_number, line_text in enumerate(file.readlines()):
+            match = non_redirecting_hyperlinks(line_text, pattern, ignore_patterns)
+            passed, buffer = prepare_error_messages(match, filename, line_number, passed)
+            error_message_buffer += buffer
+    return passed, error_message_buffer
+
+
+def non_redirecting_hyperlinks(line_text, pattern, ignore_patterns):
+    """
+    Helper function that finds all hyperlinks missing a redirection attribute on a given line.
+
+    Args:
+        line_text (str): A line from a markdown file being linted.
+        pattern (str): A raw string containing the regular expression pattern to be used for linting.
+        ignore_patterns (List[str]): A list of regex patterns to ignore.
+
+    Returns:
+        List[str]: A list of hyperlinks missing a redirection attribute
+    """
+    match = re.findall(pattern, line_text, flags=re.M)
+    ignore_links = []
+    for ignore_pattern in ignore_patterns:
+        expression = re.compile(ignore_pattern)
+        ignore_links += list(filter(lambda l: expression.match(re.search(LINK_REGEX, l).group()[:-1]), match))
+    match = list(filter(lambda l: l not in ignore_links, match))
+    return match
+
+
+def prepare_error_messages(match, filename, line_number, passed):
+    """
+    Helper function that generates error messages for hyperlinks without redirection attributes and modifies the passed bool if necessary.
+
+    Args:
+        match (list[str]): A list of strings representing the matched links.
+        filename (str): The name of the file being checked for errors.
+        line_number (int): The line number where the error occurred.
+        passed (bool): A bool specifying if previous links have passed or not.
+
+    Returns:
+        tuple[bool, str]: Returns a tuple containing two variables:
+            1. The previous passed bool if there are no failed hyperlinks and false if there are.
+            2. A string containing the generated error message buffer.
+    """
+    error_message_buffer = ""
+
+    if not match:
+        return passed, error_message_buffer
+
+    passed = False
+    for link in match:
+        error_message_buffer += f"\tLine {line_number+1}: {link}\n"
+        annotations.append(f"::error file={filename},line={line_number+1}::{ERROR_MSG1 + link + ERROR_MSG2}")
+    return passed, error_message_buffer
+
+
+def print_check_message(filename, check_passed, check_number, error_message):
+    """
+    Prints the status of a markdown file after a check. Any errors will be printed along with
+    the status.
+
+    Args:
+        filename (str): The path to the markdown file relative to some root directory.
+        check_passed (bool): Whether the check on the markdown file passed or not.
+        check_number (int): The check number.
+        error_message (str): An error message (empty if the check passed).
+    """
+    status = PASSED_MSG if check_passed else FAILED_MSG
+    print(f"Check {check_number}: {status} {filename}\n" + error_message)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/.github/release.yml b/.github/release.yml
index 839bc375a..4dda2b104 100644
--- a/.github/release.yml
+++ b/.github/release.yml
@@ -2,10 +2,12 @@ changelog:
   exclude:
     labels:
       - ignore-for-release
+
     authors:
       - dependabot
-  categories:
+      - imgbot
 
+  categories:
     - title: "Bug Fixes :beetle:"
       labels:
         - bug
@@ -22,9 +24,9 @@ changelog:
       labels:
         - github
 
-    - title: "Documentation Updates :book:"
+    - title: "Docs Site Updates :book:"
       labels:
-        - documentation
+        - docs
 
     - title: "Other Changes :hammer_and_wrench:"
       labels:
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
new file mode 100644
index 000000000..c31f157e0
--- /dev/null
+++ b/.github/workflows/docs.yml
@@ -0,0 +1,155 @@
+name: Docs Site
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    # default types and closed
+    types: [opened, synchronize, reopened, closed]
+  workflow_dispatch:
+
+jobs:
+  # https://github.com/nosborn/github-action-markdown-cli
+  markdownlint:
+    runs-on: ubuntu-latest
+    timeout-minutes: 1
+    steps:
+    - name: Checkout workspace
+      uses: actions/checkout@v4
+
+    - name: Run linter
+      uses: nosborn/github-action-markdown-cli@v3.3.0
+      with:
+        config_file: .markdownlint.json
+        files: .
+        dot: true
+
+  # https://github.com/gaurav-nelson/github-action-markdown-link-check
+  markdown-link-check:
+    runs-on: ubuntu-latest
+    timeout-minutes: 1
+    steps:
+    - name: Checkout workspace
+      uses: actions/checkout@v4
+
+    - name: Run linter
+      uses: gaurav-nelson/github-action-markdown-link-check@v1
+      with:
+        config-file: .markdown-link-check.json
+        folder-path: .
+
+  markdown-link-redirection-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Check links to external sites redirect to a new tab
+        uses: ./.github/actions/docs-lint/
+        env:
+          ROOT: './docs/'
+
+  docs-build:
+    name: Build Docs
+    runs-on: ubuntu-latest
+    if: github.event_name != 'pull_request' || github.event.action != 'closed'
+    steps:
+      - name: "Check out the repo"
+        uses: "actions/checkout@v4"
+        with:
+          # checkout all commits to get accurate page revision times
+          # for the git-revision-date-localized plugin
+          fetch-depth: '0'
+
+      - name: "Set up Python"
+        uses: "actions/setup-python@v5"
+        with:
+          python-version: "3.x"
+
+      - name: Install OS Dependencies
+        run: sudo apt-get install libcairo2-dev libfreetype6-dev libffi-dev libjpeg-dev libpng-dev libz-dev
+
+      - name: Install Python dependencies
+        run: pip install -Ur docs/requirements.txt
+
+      - name: "Build docs"
+        run: mkdocs build
+
+  # https://squidfunk.github.io/mkdocs-material/publishing-your-site/#with-github-actions
+  docs-deploy:
+    name: Deploy Docs version
+    runs-on: ubuntu-latest
+    if: github.event_name != 'pull_request' || github.event.action != 'closed'
+    needs: [markdownlint, markdown-link-check, markdown-link-redirection-check, docs-build]
+    permissions:
+      contents: write
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+        with:
+          # checkout all commits to get accurate page revision times
+          # for the git-revision-date-localized plugin
+          fetch-depth: '0'
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Install OS Dependencies
+        run: sudo apt-get install libcairo2-dev libfreetype6-dev libffi-dev libjpeg-dev libpng-dev libz-dev
+
+      - name: Install Python dependencies
+        run: pip install -Ur docs/requirements.txt
+
+      - name: "Deploy pr-${{ github.event.number }} version of the Docs"
+        if: github.event_name == 'pull_request'
+        run: |
+          git config user.name ci-bot
+          git config user.email ci-bot@example.com
+          mike deploy --push pr-${{ github.event.number }}
+
+      - name: Deploy main version of the Docs
+        if: github.ref == 'refs/heads/main' && (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
+        run: |
+          git config user.name ci-bot
+          git config user.email ci-bot@example.com
+          mike deploy --push --update-aliases main latest
+
+  docs-delete:
+    name: Delete Docs version
+    runs-on: ubuntu-latest
+    if: github.event_name == 'pull_request' && github.event.action == 'closed'
+    permissions:
+      contents: write
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+        with:
+          # checkout all commits to get accurate page revision times
+          # for the git-revision-date-localized plugin
+          fetch-depth: '0'
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Install OS Dependencies
+        run: sudo apt-get install libcairo2-dev libfreetype6-dev libffi-dev libjpeg-dev libpng-dev libz-dev
+
+      - name: Install Python dependencies
+        run: pip install -Ur docs/requirements.txt
+
+      - name: "Delete pr-${{ github.event.number }} version of the Docs"
+        run: |
+          git config user.name ci-bot
+          git config user.email ci-bot@example.com
+          mike delete --push pr-${{ github.event.number }}
diff --git a/.github/workflows/test_definitions.yml b/.github/workflows/test_definitions.yml
index e8aa7a551..36b800c29 100644
--- a/.github/workflows/test_definitions.yml
+++ b/.github/workflows/test_definitions.yml
@@ -132,88 +132,6 @@ jobs:
       with:
         disable_vcs: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
 
-  # https://github.com/nosborn/github-action-markdown-cli
-  markdownlint:
-    runs-on: ubuntu-latest
-    timeout-minutes: 1
-    if: ${{ inputs.markdown-ci }}
-    needs: [extract-metadata]
-    steps:
-    - name: Checkout workspace
-      uses: actions/checkout@v4
-      with:
-          repository: UBCSailbot/sailbot_workspace
-          ref: ${{ needs.extract-metadata.outputs.caller-ref }}
-
-    - name: Checkout repositories
-      uses: ./.github/actions/checkout/
-      with:
-          repository: ${{ inputs.repository }}
-
-    - name: Run linter in workspace
-      uses: nosborn/github-action-markdown-cli@v3.3.0
-      if: inputs.repository == 'sailbot_workspace'
-      with:
-        config_file: .markdownlint.json
-        files: .
-        dot: true
-
-    - name: Run linter not in workspace
-      uses: nosborn/github-action-markdown-cli@v3.3.0
-      if: inputs.repository != 'sailbot_workspace'
-      with:
-        config_file: .markdownlint.json
-        files: src/${{ inputs.repository }}
-        dot: true
-
-  # https://github.com/gaurav-nelson/github-action-markdown-link-check
-  markdown-link-check:
-    runs-on: ubuntu-latest
-    timeout-minutes: 1
-    if: ${{ inputs.markdown-ci }}
-    needs: [extract-metadata]
-    steps:
-    - name: Checkout workspace
-      uses: actions/checkout@v4
-      with:
-          repository: UBCSailbot/sailbot_workspace
-          ref: ${{ needs.extract-metadata.outputs.caller-ref }}
-
-    - name: Checkout repositories
-      uses: ./.github/actions/checkout/
-      with:
-          repository: ${{ inputs.repository }}
-
-    - name: Run linter in workspace
-      uses: gaurav-nelson/github-action-markdown-link-check@v1
-      if: inputs.repository == 'sailbot_workspace'
-      with:
-        config-file: .markdown-link-check.json
-        folder-path: .
-
-    - name: Run linter not in workspace
-      uses: gaurav-nelson/github-action-markdown-link-check@v1
-      if: inputs.repository != 'sailbot_workspace'
-      with:
-        config-file: .markdown-link-check.json
-        folder-path: src/${{ inputs.repository }}
-
-  # Rebuilds our docs site https://ubcsailbot.github.io/docs/
-  rebuild-docs:
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
-    if: github.event_name == 'push' && github.ref == 'refs/heads/main' && inputs.rebuild-docs
-    needs: [markdownlint, markdown-link-check]
-    steps:
-    - name: Dispatch Docs Tests workflow to publish site
-      # https://github.com/orgs/community/discussions/26323#discussioncomment-5600001
-      run: |
-          gh workflow run tests.yml -R UBCSailbot/docs
-          sleep 5
-          gh run watch --exit-status -R UBCSailbot/docs $(gh run list -R UBCSailbot/docs -w tests.yml -L1 --json databaseId --jq '.[0].databaseId')
-    env:
-      GH_TOKEN: ${{ secrets.PAT_TOKEN }}
-
   # Runs Sailbot Workspace CI
   run-sailbot-workspace-ci:
     runs-on: ubuntu-latest
diff --git a/.gitignore b/.gitignore
index 3db9751ff..49222a8c5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -29,3 +29,12 @@ __pycache__/
 
 # data collection node output
 /boat_simulator_output/
+
+# docs
+# Python virtual environment
+.venv/
+venv/
+# Social cards
+.cache/
+# Build
+site/
diff --git a/docs/assets/images/favicon.png b/docs/assets/images/favicon.png
new file mode 100644
index 000000000..b695121e0
Binary files /dev/null and b/docs/assets/images/favicon.png differ
diff --git a/docs/assets/images/github/workflow/branch_comparison.png b/docs/assets/images/github/workflow/branch_comparison.png
new file mode 100644
index 000000000..195b1af37
Binary files /dev/null and b/docs/assets/images/github/workflow/branch_comparison.png differ
diff --git a/docs/assets/images/github/workflow/create_pr.png b/docs/assets/images/github/workflow/create_pr.png
new file mode 100644
index 000000000..1008ab276
Binary files /dev/null and b/docs/assets/images/github/workflow/create_pr.png differ
diff --git a/docs/assets/images/github/workflow/gh_assignee.png b/docs/assets/images/github/workflow/gh_assignee.png
new file mode 100755
index 000000000..bfdd58ba1
Binary files /dev/null and b/docs/assets/images/github/workflow/gh_assignee.png differ
diff --git a/docs/assets/images/github/workflow/gh_labels.png b/docs/assets/images/github/workflow/gh_labels.png
new file mode 100755
index 000000000..f5c11ca40
Binary files /dev/null and b/docs/assets/images/github/workflow/gh_labels.png differ
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diff --git a/docs/current/boat_simulator/overview.md b/docs/current/boat_simulator/overview.md
new file mode 100644
index 000000000..d07941d49
--- /dev/null
+++ b/docs/current/boat_simulator/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Boat Simulator can be found in the
+    [boat_simulator](https://github.com/UBCSailbot/boat_simulator){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/boat_simulator/main/README.md"
diff --git a/docs/current/controller/overview.md b/docs/current/controller/overview.md
new file mode 100644
index 000000000..6fc31bb62
--- /dev/null
+++ b/docs/current/controller/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Controller can be found in the
+    [controller](https://github.com/UBCSailbot/controller){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/controller/main/README.md"
diff --git a/docs/current/custom_interfaces/overview.md b/docs/current/custom_interfaces/overview.md
new file mode 100644
index 000000000..27b487665
--- /dev/null
+++ b/docs/current/custom_interfaces/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Custom Interfaces can be found in the
+    [custom_interfaces](https://github.com/UBCSailbot/custom_interfaces){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/custom_interfaces/main/README.md"
diff --git a/docs/current/docs/overview.md b/docs/current/docs/overview.md
new file mode 100644
index 000000000..41299f726
--- /dev/null
+++ b/docs/current/docs/overview.md
@@ -0,0 +1,71 @@
+# Docs
+
+UBCSailbot software team's documentation site. It is meant to be developed in [Sailbot Workspace](https://github.com/UBCSailbot/sailbot_workspace){target=_blank}
+in conjunction with our other software, but doesn't have to be. There are instructions for both cases below.
+
+## Setup
+
+### Setup in Sailbot Workspace
+
+1. Uncomment `docker-compose.docs.yml` in `.devcontainer/devcontainer.json`
+2. Rebuild the Dev Container
+
+Refer to [How to work with containerized applications](../sailbot_workspace/how_to.md#work-with-containerized-applications)
+for more details.
+
+### Setup By Itself
+
+1. Clone repository
+
+    ```
+    git clone https://github.com/UBCSailbot/docs.git
+    ```
+
+2. Manually install [social plugin OS dependencies](https://squidfunk.github.io/mkdocs-material/setup/setting-up-social-cards/#dependencies){target=_blank}
+
+3. Install Python dependencies
+
+    ```
+   pip install --upgrade pip
+   pip install -Ur docs/requirements.txt
+   ```
+
+    - Can do this in a [Python virtual environment](../../reference/python/virtual-environments.md)
+
+## Run
+
+### Run in Sailbot Workspace
+
+After [setup](#setup-in-sailbot-workspace), the Docs site should be running on port 8000.
+
+Refer to [How to work with containerized applications](../sailbot_workspace/how_to.md#work-with-containerized-applications)
+for more details.
+
+### Run By Itself using VS Code
+
+1. `CTRL+P` to open Quick Open
+2. Run a launch configuration
+    - "debug Run Application" runs `mkdocs serve`
+    - "debug Launch Application" runs `mkdocs serve` and opens the application in a new Microsoft Edge window
+
+### Run By Itself using CLI
+
+```
+mkdocs serve
+```
+
+## Update Dependencies
+
+This site is built using the latest versions of dependencies in `docs/requirements.txt`
+at the time of the most recent commit to the main branch.
+To see exactly how the site will look when deployed, ensure your local dependencies are up to date.
+
+### Update Dependencies in Sailbot Workspace
+
+Rebuild the Dev Container.
+
+### Update Dependencies By Itself
+
+```
+pip install -Ur docs/requirements.txt
+```
diff --git a/docs/current/local_pathfinding/overview.md b/docs/current/local_pathfinding/overview.md
new file mode 100644
index 000000000..7826d8ba7
--- /dev/null
+++ b/docs/current/local_pathfinding/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Local Pathfinding can be found in the
+    [local_pathfinding](https://github.com/UBCSailbot/local_pathfinding){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/local_pathfinding/main/README.md"
diff --git a/docs/current/network_systems/overview.md b/docs/current/network_systems/overview.md
new file mode 100644
index 000000000..6f820b851
--- /dev/null
+++ b/docs/current/network_systems/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Network Systems can be found in the
+    [network_systems](https://github.com/UBCSailbot/network_systems){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/network_systems/main/README.md"
diff --git a/docs/current/notebooks/overview.md b/docs/current/notebooks/overview.md
new file mode 100644
index 000000000..832917f40
--- /dev/null
+++ b/docs/current/notebooks/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Notebooks can be found in the
+    [notebooks](https://github.com/UBCSailbot/notebooks){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/notebooks/main/README.md"
diff --git a/docs/current/overview.md b/docs/current/overview.md
new file mode 100644
index 000000000..93dfb0197
--- /dev/null
+++ b/docs/current/overview.md
@@ -0,0 +1,64 @@
+# Current Project Overview
+
+Our current project, Polaris, is an autonomous research vessel capable of collecting oceanic and atmospheric data. With our
+expertise in autonomous sailing, the goal is to monitor the health of our oceans while collaborating with stakeholders
+and researchers involved in climate science and oceanography.
+
+The software team is responsible for designing, implementing, and testing the software system of our autonomous sailboats.
+We work on both low-level and high-level integration, from interfacing with sensors to planning sea routes with pathfinding
+algorithms.
+
+## Dataflow
+
+The software architecture for our next autonomous sailboat is split across two computers: the on board computer on board
+and the remote server off board. The following paragraphs will follow the flow of data between the software components
+(bolded) on each computer.
+
+On the remote server, **global pathfinding** uses the A* pathfinding algorithm to create a sailing path, a list of global
+waypoints from the current position to destination. Global sailing paths are sent via the **Remote Transceiver** to the
+**Local Transceiver** on the on board computer.
+
+On the on board computer, the **CAN Transceiver** receives GPS and wind data from their respective sensors. This raw data
+is filtered before being used in the other software components. **Local Pathfinding** uses GPS and wind data, as well as
+the global path and AIS data from the **AIS Receiver**, to create a local path, a list of local waypoints from the current
+position to the next global waypoint. The **Controller** uses wind data and the relative bearing to the local path to adjust
+the rudder and sails accordingly. The state of the boat and research data we collect is sent via the **Local Transceiver**
+to the **Remote Transceiver** on the remote server.
+
+Back on the remote server, the **Website** presents the boat state and research data for monitoring and analysis purposes.
+The **Remote Transceiver** additionally includes manual overrides such as resetting the boat state and modifying the global
+path.
+
+As for the communication mediums, the computers communicate via satellite, and components on the on board computer communicate
+through the [Robot Operating System framework](../reference/ros.md){target=_blank}, or ROS for short.
+
+For software development purposes, all software components will be able to run and communicate with each other locally.
+To accomplish this, we will:
+
+1. Create a development environment that has all software component dependencies: **Sailbot Workspace**.
+2. Develop accurate simulations of the environment and hardware: **Simulator**, **Mock AIS**, **Mock Global Pathfinding**.
+3. Add configuration options to select between real and simulated hardware as well as running remote server components
+   remotely or locally.
+
+## Diagrams
+
+In these diagrams, the bubbles represent components of our software system, and the direction of arrows connecting the
+bubbles represent the flow of data between them. The color of the bubbles denote the sub-team leading their development:
+
+- Purple: Controls
+- Green: Network Systems
+- Blue: Pathfinding
+- Red: Website
+- White: Not a part of the Software Team's codebase
+
+Components that are used in both the production and development environments are darker,
+while ones that are only used in one are lighter.
+
+!!! tip "Interacting with the diagram"
+
+    - To switch between the production and development environment diagrams, hover over the image to make the toolbar
+      visible and navigate with the arrows on the left side
+
+<!-- This was generated by going to the source, selecting File > Embed > iFrame, and deselecting Layers, Tags, and Edit -->
+<!-- Source: https://drive.google.com/file/d/1_qC245vcXXuB69TLDhcfBPzdc10g7hwi/view?usp=sharing -->
+<iframe frameborder="0" style="width:100%;height:533px;" src="https://viewer.diagrams.net/?highlight=0000ff&nav=1&title=SOFT%20Architecture%20Diagram#Uhttps%3A%2F%2Fdrive.google.com%2Fuc%3Fid%3D1_qC245vcXXuB69TLDhcfBPzdc10g7hwi%26export%3Ddownload"></iframe>
diff --git a/docs/current/sailbot_workspace/deployment.md b/docs/current/sailbot_workspace/deployment.md
new file mode 100644
index 000000000..c03613ff2
--- /dev/null
+++ b/docs/current/sailbot_workspace/deployment.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The [source code for deployment](https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer/deployment){target=_blank}
+    can be found in the [sailbot_workspace](https://github.com/UBCSailbot/sailbot_workspace){target=_blank}
+    GitHub repository. Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/sailbot_workspace/main/.devcontainer/deployment/README.md"
diff --git a/docs/current/sailbot_workspace/docker_images.md b/docs/current/sailbot_workspace/docker_images.md
new file mode 100644
index 000000000..de293d928
--- /dev/null
+++ b/docs/current/sailbot_workspace/docker_images.md
@@ -0,0 +1,35 @@
+# Docker Images
+
+A table detailing the Docker images used to create the Dev Container can be found below.
+Click on an image to learn more about its features and how to update it.
+
+| Image                                         | Parent Image                                        | Source Code                                                 | Why it is Rebuilt                | Where it is Built                      |
+| --------------------------------------------- | --------------------------------------------------- | ----------------------------------------------------------- | -------------------------------- | -------------------------------------- |
+| [`pre-base`][pre-base]{target=_blank}         | [Ubuntu 22.04][Ubuntu Image]{target=_blank}         | [`base-dev.Dockerfile`][base-dev.Dockerfile]{target=_blank} | To install ROS or OMPL           | Personal computer                      |
+| [`base`][base]{target=_blank}                 | [`pre-base`][pre-base]{target=_blank}               | [`base-dev.Dockerfile`][base-dev.Dockerfile]{target=_blank} | To install core dependencies     | Workflow dispatch                      |
+| [`local-base`][local-base]{target=_blank}     | [`base`][base]{target=_blank}                       | [`base-dev.Dockerfile`][base-dev.Dockerfile]{target=_blank} | To install core dev dependencies | Workflow dispatch                      |
+| [`dev`][dev]{target=_blank}                   | [`local-base`][local-base]{target=_blank}           | [`base-dev.Dockerfile`][base-dev.Dockerfile]{target=_blank} | To install dev dependencies      | Workflow dispatch                      |
+| [Dev Container][Dev Container]{target=_blank} | [`dev`][dev]{target=_blank}                         | [`Dockerfile`][Dockerfile]{target=_blank}                   | To configure the Dev Container   | VS Code                                |
+| [`docs`][docs]{target=_blank}                 | [`mkdocs-material`][mkdocs-material]{target=_blank} | [`docs.Dockerfile`][docs.Dockerfile]{target=_blank}         | To install and run docs site     | VS Code ([optional][o]{target=_blank}) |
+| [`website`][website]{target=_blank}           | [`javascript-node`][javascript-node]{target=_blank} | [`website.Dockerfile`][website.Dockerfile]{target=_blank}   | To install and run website       | VS Code ([optional][o]{target=_blank}) |
+
+<!-- Images URLs -->
+[Ubuntu image]: <https://hub.docker.com/_/ubuntu>
+[pre-base]: <https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer/base-dev>
+[base]: <https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer/base-dev>
+[local-base]: <https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer/base-dev>
+[dev]: <https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer/base-dev>
+[docs]: <https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer/docs>
+[mkdocs-material]: <https://hub.docker.com/r/squidfunk/mkdocs-material>
+[website]: <https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer/website>
+[javascript-node]: <https://hub.docker.com/_/microsoft-vscode-devcontainers>
+[Dev Container]: <https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer>
+
+<!-- Dockerfile URLs -->
+[base-dev.Dockerfile]: <https://github.com/UBCSailbot/sailbot_workspace/blob/main/.devcontainer/base-dev/base-dev.Dockerfile>
+[docs.Dockerfile]: <https://github.com/UBCSailbot/sailbot_workspace/blob/main/.devcontainer/docs/docs.Dockerfile>
+[website.Dockerfile]: <https://github.com/UBCSailbot/sailbot_workspace/blob/main/.devcontainer/website/website.Dockerfile>
+[Dockerfile]: <https://github.com/UBCSailbot/sailbot_workspace/blob/main/.devcontainer/Dockerfile>
+
+<!-- Miscellaneous -->
+[o]: ./how_to.md#run-optional-programs
diff --git a/docs/current/sailbot_workspace/how_to.md b/docs/current/sailbot_workspace/how_to.md
new file mode 100644
index 000000000..e8956e018
--- /dev/null
+++ b/docs/current/sailbot_workspace/how_to.md
@@ -0,0 +1,335 @@
+# How-To's
+
+## Run VS Code commands, tasks, and launch configurations
+
+!!! tip "MacOS keyboard shortcuts"
+
+    For keyboard shortcuts on MacOS, substitute ++ctrl++ with ++cmd++.
+
+VS Code commands can be run in the Command Palette.
+Open the Command Palette from the `View` menu or with ++ctrl+shift+p++.
+
+Tasks can be run using the `Tasks: Run Task` VS Code command. Build tasks can be run with ++ctrl+shift+b++.
+
+Launch configurations can be run from the [Run and Debug view](https://code.visualstudio.com/docs/editor/debugging#_run-and-debug-view){target=_blank}.
+
+You can also run VS Code commands, tasks, launch configurations, and much more by typing their prefixes
+into an empty Command Palette. Open an empty Command Palette with ++ctrl+p++ or by clicking the box in the center
+of the title bar. See the list below for some prefixes and their functions.
+For prefixes that are words, you will have to append a space to them to bring up their functions.
+
+- Nothing: files
+- `>`: VS Code commands
+- `task`: tasks
+- `debug`: launch configurations
+- `?`: list all prefixes and their functions
+
+## Work with containerized applications
+
+!!! info ""
+
+    New in [:octicons-tag-24: v1.1.0](https://github.com/UBCSailbot/sailbot_workspace/releases/tag/v1.1.0){target=_blank}
+
+We have containerized the following applications for a variety of reasons:
+
+- [MongoDB database](https://www.mongodb.com/){target=_blank}
+- [Docs site](https://github.com/UBCSailbot/docs){target=_blank}
+- [Website](https://github.com/UBCSailbot/website){target=_blank}
+
+### Running containerized applications
+
+In the first section of `dockerComposeFile` of `.devcontainer/devcontainer.json`, there is a list of files:
+each file contains the configuration for one or more applications.
+
+The ones that are commented out are not run. To run them:
+
+1. Uncomment the Docker Compose file(s) that the application(s) you desire to run are defined in
+    - Programs that are defined in the uncommented Docker Compose files will be started and stopped with Sailbot Workspace
+2. Run the `Dev Containers: Rebuild Container` VS Code command to restart Sailbot Workspace
+
+To stop running them:
+
+1. Comment out the corresponding Docker Compose file
+2. Stop the application's container: see [Managing containerized applications](#managing-containerized-applications)
+
+### Viewing MongoDB data
+
+Connect the [MongoDB VS Code extension](https://www.mongodb.com/products/vs-code){target=_blank} to the running database:
+[Create a Connection for Deployment](https://www.mongodb.com/docs/mongodb-vscode/connect/#create-a-connection-to-a-deployment){target=_blank}
+
+- Use the default methods: "Paste Connection String" and "Open from Overview Page"
+- Our database's connection string is `mongodb://localhost:27017`
+- See the [MongoDB VS Code extension docs](https://www.mongodb.com/docs/mongodb-vscode/){target=_blank} for how
+  to use it to navigate or explore the database
+
+### Opening Docs or Website
+
+Docs runs on port 8000 and Website 3005. You can see them in your browser at `localhost:<port>`. To open them using VS Code:
+
+1. Run the `Ports: Focus on Ports View` VS Code command
+2. Open the site by hovering over its local address and clicking either "Open in Browser" or "Preview in Editor"
+    - The local address of Docs is the line with a port of 8000
+    - The local address of Website is the line with a port of 3005
+
+!!! tip "Turn off auto saving"
+
+    Changes made to their files are loaded when they are saved, so **if Auto Save is on, turn it off**
+    so that the Docs/Website servers aren't continuously reloading. Auto Save is on by default in GitHub Codespaces
+
+### Managing containerized applications
+
+Each application runs in a Docker container. Containers can be managed using Docker Desktop or CLI commands:
+
+- View Sailbot Workspace containers
+
+    === ":material-docker: Docker Desktop"
+
+        1. Select "Containers" in the top right
+        2. Expand "sailbot_workspace_devcontainer"
+            - The "Status" column shows whether a container is running or not
+
+    === ":octicons-terminal-24: CLI Commands"
+
+        ```
+        docker ps -a
+        ```
+
+        - Sailbot Workspace containers should be named something like `sailbot_workspace_devcontainer-<application>-<number>`
+        - The `STATUS` column shows whether a container is running or not
+
+- View a container's logs, the output of the container (including errors that caused it to stop)
+
+    === ":material-docker: Docker Desktop"
+
+        1. Click on a container
+        2. Navigate to the "Logs" view if not already on it
+
+    === ":octicons-terminal-24: CLI Commands"
+
+        ```
+        docker logs <container>
+        ```
+
+- Start a container that is not running
+
+    === ":material-docker: Docker Desktop"
+
+        1. Click start :material-play:
+
+    === ":octicons-terminal-24: CLI Commands"
+
+        ```
+        docker start <container>
+        ```
+
+- Stop a container that is running
+
+    === ":material-docker: Docker Desktop"
+
+        1. Click stop :material-stop:
+
+    === ":octicons-terminal-24: CLI Commands"
+
+        ```
+        docker stop <container>
+        ```
+
+## Manage software packages
+
+!!! warning "Why can't I just install the dependencies myself in the command line interface with `pip` or `apt`?"
+
+    Although this will temporarily work, installing apt and/or Python dependencies directly in sailbot workspace using
+    the commandline interface will not persist between container instances. The dependencies will need to be manually
+    installed every single time you create a new instance of sailbot workspace, which is not feasible when we start to
+    use many dependencies at once.
+
+    Of course, one could also install dependencies inside the sailbot workspace Docker images to allow such dependencies
+    to persist across container instances. However, putting dependencies inside `package.xml` distinguishes between
+    what dependencies are needed for ROS packages and what dependencies are needed for infrastructure purposes.
+
+### Add apt or python dependencies to ROS packages
+
+If running your ROS packages requires external dependencies from an apt repository or python package, **one** of the following
+tags should be added to the `package.xml` file in the root directory of the ROS package:
+
+```xml
+<depend>ROSDEP_KEY</depend>
+<build_depend>ROSDEP_KEY</build_depend>
+<build_export_depend>ROSDEP_KEY</build_export_depend>
+<exec_depend>ROSDEP_KEY</exec_depend>
+<test_depend>ROSDEP_KEY</test_depend>
+```
+
+- Learn what each tag is used for [here](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#id4){target=_blank}.
+
+- Replace `ROSDEP_KEY` with the rosdep key for the dependency, which can be found online.
+    - Use the key associated with **ubuntu** since sailbot workspace uses Ubuntu, or **debian** which Ubuntu is based on
+    - Do not include the square brackets in `package.xml`
+
+    === ":material-ubuntu: Apt Dependencies"
+        - Rosdep keys for apt repositories can be found [here](https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml){target=_blank}
+
+    === ":material-language-python: Python Dependencies"
+        - Rosdep keys for python packages can be found [here](https://github.com/ros/rosdistro/blob/master/rosdep/python.yaml){target=_blank}
+        - Since we use Python 3, look for the packages that start with `python3-` (`python-` is usually for Python 2)
+
+- If there isn't rosdep key for the dependency, you can add your own to `custom-rosdep.yaml`
+  in the root directory of the ROS package
+
+After completing these steps, [run the `setup` task](#run-vs-code-commands-tasks-and-launch-configurations) and the
+desired dependencies should be installed. ROS uses a dependency management utility, rosdep, to handle the installation
+of dependencies. In addition to runtime dependencies, rosdep also handles dependencies for build time, dependencies for
+testing, sharing dependencies between ROS packages, and more.
+See the [ROS documentation on rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html){target=_blank}
+to learn more.
+
+### Add dependencies to a Docker image
+
+There are a couple cases where you would want to add dependencies to a Docker image instead of ROS package:
+
+1. The dependency is not used to build/run/test a ROS package
+2. There is no apt or pip package for your dependency so you have to build from source
+
+To verify your changes, you can add them to `.devcontainer/Dockerfile` then
+run the `Dev Containers: Rebuild Container` VS Code command. Once verified, migrate the changes to one of the upstream
+[images](./docker_images.md){target=_blank}: `base`, `local-base`, `dev`, or `pre-base`.
+
+## Enable GitHub Copilot in Sailbot Workspace
+
+[^1]: [GitHub Copilot Quickstart Guide](https://docs.github.com/en/copilot/quickstart){target=_blank}
+
+GitHub Copilot is an AI paired programming tool that can help you accelerate your development by providing suggestions
+for whole lines or entire functions inside your editor.[^1] To enable GitHub Copilot:
+
+1. [Apply to GitHub Global Campus as a student](https://docs.github.com/en/education/explore-the-benefits-of-teaching-and-learning-with-github-education/github-global-campus-for-students/apply-to-github-global-campus-as-a-student){target=_blank}
+to use GitHub Copilot and get other student benefits for free. It may take a few days for your student status to be
+verified. In the meantime, you can still continue with the next steps. However, you will need to use the GitHub Copilot
+free trial until your account is verified.
+
+2. [Sign up for GitHub Copilot for your personal account](https://docs.github.com/en/copilot/quickstart#signing-up-for-github-copilot-for-your-personal-account){target=_blank}.
+If it offers a free trial, then take it. You should see a page telling you that you can use GitHub Copilot for free
+(if you have a verified student account).
+
+3. Uncomment the `github.copilot` extension in `.devcontainer/devcontainer.json` and run the
+   `Dev Containers: Rebuild Container` VS Code command
+
+4. Sign into your GitHub account in VS Code. The GitHub Copilot extension should automatically prompt you to sign into
+your account if you are not already.
+
+    ??? warning "VS Code is not prompting me to sign into my account"
+        You may already be signed in into your GitHub account. You can check by clicking on the :octicons-person-16:
+        **Accounts** icon in the bottom-left corner in VS Code and verify that you see your GitHub account.
+
+        If you do not see your account, you can get the sign in prompt by trying:
+
+        - Reloading the VS Code window: ++ctrl+shift+p++ and select `Developer: Reload Window`
+        - Rebuilding the devcontainer: ++ctrl+shift+p++ and select `Dev Containers: Rebuild Container`
+        - If using a Mac, use ++cmd++ instead of ++ctrl++
+
+5. If all the previous steps were done correctly, you should see the :octicons-copilot-48: **GitHub Copilot** icon in
+the bottom-right corner of VS Code without any error messages. For more information on how to use Copilot and a tutorial,
+refer to:
+
+    - [The GitHub Copilot Getting Started Guide](https://docs.github.com/en/copilot/getting-started-with-github-copilot){target=_blank}
+    - [Configuring GitHub Copilot in your Environment](https://docs.github.com/en/copilot/configuring-github-copilot/configuring-github-copilot-in-your-environment){target=_blank}
+
+## Use your dotfiles
+
+Dotfiles are configuration files for various programs.[^2]
+
+??? info "More about dotfiles"
+
+    - They are called dotfiles because their filenames start with a dot (`.`)
+    - On Linux and MacOS, files and directories that begin with a dot are hidden by default
+    - To list dotfiles using the `ls` command, specify the `-a` argument: `ls -a`
+
+Dotfiles that are commonly modified include:
+
+- Bash: `~/.bashrc`
+- Git: `~/.gitconfig`
+- Vim: `~/.vimrc`
+
+To use your dotfiles:
+
+1. Ensure that the `base`, `local-base`, or `dev` [image](./docker_images.md){target=_blank}
+   installs the programs that the dotfiles correspond to
+2. Copy the dotfiles to the `.devcontainer/config/` directory.
+   If a dotfile is located in a child directory, you will have to created it.
+   For example, if a dotfile's path is `~/.config/ex_dotfile`, you will need to copy it to `.devcontainer/config/.config/ex_dotfile`
+
+    !!! warning "Special cases"
+
+        - `~/.gitconfig`: there is no need copy your Git dotfile, as Dev Containers do this automatically
+        - `~/.bashrc`: don't copy your Bash dotfile, as it would override the one created in the `dev` image.
+        Instead, add your bash configuration `.aliases.bash` or `.functions.bash` in the config directory, as these are sourced
+        by the created Bash dotfile.
+
+3. Run the `Dev Containers: Rebuild Container` VS Code command
+
+[^2]: [Dotfiles – What is a Dotfile and How to Create it in Mac and Linux](https://www.freecodecamp.org/news/dotfiles-what-is-a-dot-file-and-how-to-create-it-in-mac-and-linux/){target=_blank}
+
+## Run Raye's software
+
+Raye was our previous project. Her software can be run in the `raye` branch:
+
+1. Switch to the `raye` branch: `git switch raye`
+2. Rebuild the Dev Container: run the `Dev Containers: Rebuild Container` VS Code command
+3. If you want to run [Raye's local pathfinding visualizer](https://github.com/UBCSailbot/raye-local-pathfinding?tab=readme-ov-file#visualizing-the-simulation){target=_blank},
+   complete [step 2 of the setup instructions](./setup.md#2-setup-x11-forwarding){target=_blank}
+
+!!! warning "`raye` branch disclaimers"
+
+    1. Since `raye` (and Raye's codebase in general) is not in active development, it may not be 100% functional
+       or contain all the features in `main`
+    2. `raye` is more memory intensive than `main` because the parent image of its Dev Container is much larger;
+       this may lead to worse performance
+
+### Build Raye's ROS packages
+
+To build Raye's ROS packages, run the following commands:
+
+```bash
+roscd
+catkin_make
+```
+
+### Run packages from different workspaces
+
+The `raye` branch has two ROS workspaces: one for Raye and one for the new project.
+To run ROS packages, you will have to source the overlay of the workspace that it is in:
+
+=== "New Project"
+
+    ```
+    srcnew
+    ```
+
+=== "Raye"
+
+    ```
+    srcraye
+    ```
+
+Then you can run launch files or package-specific executables in that workspace with:
+
+=== "New Project"
+
+    `ros2 launch ...` or `ros2 run ...`, respectively.
+
+=== "Raye"
+
+    `roslaunch ...` or `rosrun ...`, respectively.
+
+### Raye's known issues
+
+!!! bug "Run commands for Raye packages are very slow"
+
+    On non-Ubuntu-based Linux operating systems, Run commands for Raye packages may take a long time to start-up.
+    This is because the system has trouble resolving the local hostname.
+
+    To resolve this bug, run the commands below in the Dev Container:
+
+    ```bash
+    echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc
+    echo 'export ROS_MASTER_URI=http://localhost:11311' >> ~/.bashrc
+    ```
diff --git a/docs/current/sailbot_workspace/launch_files.md b/docs/current/sailbot_workspace/launch_files.md
new file mode 100644
index 000000000..b2dbf5458
--- /dev/null
+++ b/docs/current/sailbot_workspace/launch_files.md
@@ -0,0 +1,185 @@
+# ROS Launch Files in Sailbot Workspace
+
+ROS 2 Launch files allow us to programatically start up and configure multiple ROS nodes.[^1]
+Within Sailbot Workspace, ROS launch files are used to start up our ROS packages with ease.
+Additionally, we take advantage of the hierarchical properties of launch files by defining a global
+entry point that invokes the launch files of all ROS packages in the system.
+
+## Launch File Architecture
+
+There are two launch processes that we utilize: namely the Package Launch Process and the Global launch process.
+
+### The Package Launch Process
+
+<!-- This was generated by going to the source, selecting File > Embed > iFrame, and deselecting Layers, Tags, and Edit -->
+<!-- Source: https://drive.google.com/file/d/1B5ayOHnFcVvFmLeAGr6nOryFvVqk5abI/view?usp=sharing -->
+<iframe frameborder="0" style="width:100%;height:600px;" src="https://viewer.diagrams.net/?highlight=0000ff&nav=1&title=Package_Launch_File_Architecture.drawio#Uhttps%3A%2F%2Fdrive.google.com%2Fuc%3Fid%3D1B5ayOHnFcVvFmLeAGr6nOryFvVqk5abI%26export%3Ddownload"></iframe>
+
+The package launch process is intended to start up a specific ROS package by directly using the package launch file.
+The process is as follows:
+
+1. The package launch file is invoked with the user passing arguments via the CLI and specifying a configuration file.
+2. Global argument declarations and environment variables are loaded into the launch process.
+3. Local arguments, specific to the package, are declared.
+4. Both global and local arguments are parsed based on the argument declarations and are set for use upon start up.
+5. The ROS nodes belonging to the package begin execution, utilizing the ROS parameters from the configuration file.
+
+??? warning "When launching individual packages, be aware of dependencies between ROS packages"
+    Some packages rely on the data produced by other packages in the system. This may cause only
+    partial functionality of the ROS node(s) that are running inside the launched package. Therefore,
+    it may be necessary to launch multiple packages manually to get the desired functionality.
+
+### The Global Launch Process
+
+<!-- This was generated by going to the source, selecting File > Embed > iFrame, and deselecting Layers, Tags, and Edit -->
+<!-- Source: https://drive.google.com/file/d/19_QAeRoTDw4qQRp6w6It4_d-8YmKw-ih/view?usp=sharing -->
+<iframe frameborder="0" style="width:100%;height:600px;" src="https://viewer.diagrams.net/?highlight=0000ff&nav=1&title=Global_Launch_Architecture.drawio#Uhttps%3A%2F%2Fdrive.google.com%2Fuc%3Fid%3D19_QAeRoTDw4qQRp6w6It4_d-8YmKw-ih%26export%3Ddownload"></iframe>
+
+The global launch process is intended to start up the entire system (both the development and production environments).
+This process invokes the package launch files for each ROS package used in the system through a global launch file.
+The process is as follows:
+
+1. The global launch file is invoked with the user passing arguments via the CLI and specifying a configuration file.
+2. Environment variables common to all ROS packages are declared. In addition, the global arguments common across
+all ROS packages are declared.
+3. For each package launch file:
+    - The CLI arguments, global argument declarations, and environment variables are passed into the package launch
+      file.
+    - Local arguments, specific to the package, are declared. Both the global and local arguments are parsed based on the
+      argument declarations and are set for use upon start up.
+    - The ROS nodes belonging to the package begin execution, utilizing the ROS parameters from the configuration file.
+
+## Invoking Launch Files
+
+??? tip "Stopping the execution of a launch file"
+    Entering ++ctrl+c++ in the terminal where the launch file was invoked will stop all associated
+    ROS packages from running.
+    > Use ++command+c++ for Mac OS
+
+### Package Launch
+
+At the bare minimum, the following packages need to be built with the `Build` or `Build All` VS Code task before launching:
+
+- `custom_interfaces`
+- The package you want to launch
+
+Packages only need to be rebuilt either when the workspace is first set up, or if any changes are made to the ROS
+package. Once built, the package launch file can be invoked either in the CLI or using a VS Code command:
+
+=== ":octicons-command-palette-16: CLI"
+    Either the package and launch file name, or the path to the launch file can be used:
+
+    - **Method 1:** `ros2 launch <package> <launch file>`. This method can only be used when a launch file
+      is part of a built ROS package.
+    - **Method 2:** `ros2 launch <path to launch file>`. This method can be used regardless if a launch file
+      is in a ROS package or not.
+
+    !!! example "Launch via CLI Examples"
+        Let's launch local pathfinding using both CLI methods:
+
+        **Method 1**
+        ```sh
+        ros2 launch local_pathfinding main_launch.py
+        ```
+
+        **Method 2**
+        ```sh
+        ros2 launch $ROS_WORKSPACE/src/local_pathfinding/launch/main_launch.py
+        ```
+
+=== ":material-microsoft-visual-studio-code: VS Code"
+    Run the following VS Code command from the **Run and Debug** tab: `ROS: Launch (workspace)`
+
+    There will be a prompt to select which launch file to run. Select the desired launch file.
+
+### Global Launch
+
+Before running the system, be sure to run the `Build All` VS Code task to build all ROS packages. If the ROS launch
+debug configuration is being used, then this step is not necessary as the `Build All` task is ran automatically before
+launch.
+
+=== ":octicons-command-palette-16: CLI"
+
+    Run the entire system with the following CLI command:
+
+    ```sh
+    ros2 launch $ROS_WORKSPACE/src/global_launch/main_launch.py
+    ```
+
+=== ":material-microsoft-visual-studio-code: VS Code"
+    Run the following VS Code command from the **Run and Debug** tab: `ROS: Launch (workspace)`
+
+    There will be a prompt to select which launch file to run. Select the desired launch file.
+
+Remember to that you need to potentially reload the window if the nodes are not being detected
+by VS Code. This usually happens when somebody build for the first time. Also, note that the global
+launch file is not part of a ROS package, so the path to the global launch file always
+must be provided. This is not always the case when a launch file is contained within a ROS package.
+
+### Using CLI Arguments
+
+Invoking the launch files as is will provide the system with the default CLI arguments. As an example,
+the following command will launch local pathfinding while setting the log level to "debug":
+
+```sh
+ros2 launch local_pathfinding main_launch.py log_level:=debug
+```
+
+It can also be ran with the VS Code command named **ROS: Launch**.
+
+Passing arguments takes the form of `<arg name>:=<arg value>`. To list the arguments that a launch file takes,
+simply add the `-s` flag at the end of the launch command.
+
+??? example "Example using the `-s` flag in a launch command"
+    Let's add the `-s` flag after the global launch command to see the list of arguments:
+
+    ```sh
+    ros2 launch $ROS_WORKSPACE/src/global_launch/main_launch.py -s
+    ```
+
+    The following output is observed in the terminal (as of September 2023):
+
+    ```
+    Arguments (pass arguments as '<name>:=<value>'):
+
+    'config':
+        Path to ROS parameter config file. Controls ROS parameters passed into ROS nodes
+        (default: '/workspaces/sailbot_workspace/src/global_launch/config/globals.yaml')
+
+    'log_level':
+        Logging severity level. A logger will only process log messages with severity levels at or higher than the
+        specified severity. Valid choices are: ['debug', 'info', 'warn', 'error', 'fatal']
+        (default: 'info')
+
+    'mode':
+        System mode. Decides whether the system is ran with development or production interfaces. Valid choices are:
+        ['production', 'development']
+        (default: 'development')
+    ```
+
+??? example "Example using multiple CLI arguments"
+
+    ```sh
+    ros2 launch local_pathfinding main_launch.py log_level:=debug mode:=production
+    ```
+
+??? example "Example passing local launch arguments to the global launch file"
+    As long as an argument is valid inside one of the package launch files, it may be passed to the global launch
+    file without generating any errors. This is valid even though the argument doesn't show up in the argument list for
+    the global launch file. For example, the following will run:
+
+    ```sh
+    ros2 launch $ROS_WORKSPACE/src/global_launch/main_launch.py enable_sim_multithreading:=true
+    ```
+
+    Compare the argument list between the global launch file and the package launch file for the `boat_simulator`
+    package. It will be observed that the argument `enable_sim_multithreading` shows up in the `boat_simulator`
+    package argument list, but not for the global launch file.
+
+## ROS Parameter Config File
+
+All launch files in Sailbot Workspace accept a configuration file, which controls the ROS parameters that the ROS nodes
+in the system have access to. This makes our system highly configurable and customizable during development and testing.
+See more about [ROS parameters](https://docs.ros.org/en/humble/Concepts/Basic/About-Parameters.html){target=_blank}.
+
+[^1]: [ROS Launch File Documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Launch-Main.html){target=_blank}
diff --git a/docs/current/sailbot_workspace/overview.md b/docs/current/sailbot_workspace/overview.md
new file mode 100644
index 000000000..84e9faef9
--- /dev/null
+++ b/docs/current/sailbot_workspace/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Sailbot Workspace can be found in the
+    [sailbot_workspace](https://github.com/UBCSailbot/sailbot_workspace){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/sailbot_workspace/main/README.md"
diff --git a/docs/current/sailbot_workspace/parameters.md b/docs/current/sailbot_workspace/parameters.md
new file mode 100644
index 000000000..3b9f5b46a
--- /dev/null
+++ b/docs/current/sailbot_workspace/parameters.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The [README for ROS parameterization](https://github.com/UBCSailbot/sailbot_workspace/blob/main/src/global_launch/config/README.md){target=_blank}
+    can be found in the [sailbot_workspace](https://github.com/UBCSailbot/sailbot_workspace){target=_blank}
+    GitHub repository. Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/sailbot_workspace/main/src/global_launch/config/README.md"
diff --git a/docs/current/sailbot_workspace/setup.md b/docs/current/sailbot_workspace/setup.md
new file mode 100644
index 000000000..37d9e2a55
--- /dev/null
+++ b/docs/current/sailbot_workspace/setup.md
@@ -0,0 +1,305 @@
+# Setup Instructions
+
+Sailbot Workspace can be run on Windows, Linux, or macOS, but is the easiest to set up and performs the best on
+[Ubuntu](https://ubuntu.com/){target=_blank} and [its derivatives](https://distrowatch.com/search.php?basedon=Ubuntu){target=_blank}.
+The workspace may not perform well on Windows computers with 8GB of memory or less;
+in this case, please check out our recommendations in the [Performance Issues](./workflow.md#performance-issues){target=_blank}
+section.
+
+## 1. Setup prerequisites
+
+### Docker
+
+[Docker](https://www.docker.com/){target=_blank} is a platform that uses OS-level virtualization[^1] to develop, ship, and
+run applications.[^2] We use it to separate our applications from our infrastructure[^2] so that we can update and
+version control our infrastructure for every use case (software members, CI, deployment) in one place: this repository.
+
+[Docker Engine](https://docs.docker.com/engine/){target=_blank} is a software used to run Docker.
+However, it can only be installed on Linux.
+[Docker Desktop](https://docs.docker.com/desktop/){target=_blank} is a software used to run Docker in a VM,[^3]
+allowing it to be installed on Windows and macOS in addition to Linux.
+
+[^1]: [Wikipedia Docker page](https://en.wikipedia.org/wiki/Docker_(software)){target=_blank}
+[^2]: [Get Docker](https://docs.docker.com/get-docker/){target=_blank}
+[^3]: [What is the difference between Docker Desktop for Linux and Docker Engine](https://docs.docker.com/desktop/faqs/linuxfaqs/#what-is-the-difference-between-docker-desktop-for-linux-and-docker-engine){target=_blank}
+
+=== ":material-microsoft-windows: Windows"
+
+    1. Set up prerequisites, WSL and Ubuntu:
+
+        1. In PowerShell, run `wsl --install Ubuntu`, then `exit`, `wsl --update`, and `wsl --set-default Ubuntu`
+
+            ??? warning "Ubuntu is already installed?"
+
+                If Ubuntu is already installed, check that it is the right WSL version:
+
+                1. Check the WSL versions of Linux distributions with `wsl -l -v`
+                2. If Ubuntu's `VERSION` is 1, upgrade it to WSL 2 with `wsl --set-version Ubuntu 2`
+
+        2. Open the Ubuntu app to set up or verify its configuration:
+            1. If you are opening Ubuntu for the first time, a setup process will run;
+            follow the prompts to finish setting it up
+            2. Run `whoami` to verify that it returns your Ubuntu username
+
+                ??? bug "`whoami` returns `root`"
+
+                    If `whoami` returns `root`:
+
+                    1. [Create a non-root user with sudo privileges](https://www.digitalocean.com/community/tutorials/how-to-add-and-delete-users-on-ubuntu-20-04){target=_blank}
+                    2. Change the default Ubuntu user to this newly-created user: run `ubuntu config --default-user <username>`
+                    in PowerShell, replacing `<username>` with the name of the newly-created user
+                    3. Run `whoami` after closing and reopening Ubuntu, verifying that it returns your Ubuntu username
+
+    2. [Install Docker Desktop](https://docs.docker.com/desktop/install/windows-install/){target=_blank}
+    with the WSL 2 backend
+
+        ??? bug "Docker Desktop - Unexpected WSL Error"
+
+            ![image](../../assets/images/sailbot_workspace/workflow/sailbot_bug.png)
+
+            If the above error shows when trying to start Docker Desktop on your laptop:
+
+            1. For windows users navigate to `C:\Users\user_name` and delete the .Docker folder
+            2. Restart Docker Desktop
+
+        ??? bug "Docker Desktop can't start up and WSL hangs when restarting"
+
+            If Ubuntu can't start up and WSL hangs when restarting:
+
+            1. Open command prompt as administrator and run the command `netsh winsock reset`
+            2. Uninstall and reinstall Docker Desktop
+            3. Restart your computer
+
+            More potential solutions can be found here:
+            [Link](https://github.com/docker/for-win/issues/13273){target=_blank}
+
+=== ":material-apple: macOS"
+
+    [Install Docker Desktop](https://docs.docker.com/desktop/install/mac-install/){target=_blank} for your computer's CPU.
+
+=== ":material-linux: Linux"
+
+    1. [Install Docker Engine](https://docs.docker.com/engine/install/){target=_blank}
+        - As of February 2023, Sailbot Workspace (more specifically its use of VS Code Dev Containers) isn't compatible
+          with Docker Desktop for Linux; if you have Docker Desktop installed, uninstall it and install Docker Engine instead.
+    2. [Manage Docker as a non-root user](https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user){target=_blank}
+    3. [Configure Docker to start on boot](https://docs.docker.com/engine/install/linux-postinstall/#configure-docker-to-start-on-boot){target=_blank}
+
+### VS Code
+
+[Visual Studio Code](https://code.visualstudio.com/){target=_blank} is a powerful and customizable code editor for
+Windows, Linux, and macOS. We strongly recommend that you use this editor to develop our software so that you can
+use all the features of Sailbot Workspace.
+
+1. [Install VS Code](https://code.visualstudio.com/docs/setup/setup-overview){target=_blank}
+2. Install the [Remote Development Extension Pack](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack){target=_blank}
+
+### Git
+
+Git is a free and open source distributed version control system designed to handle everything from
+small to very large projects with speed and efficiency.[^4]
+
+1. Check if Git is installed with `git --version` (on Windows, run command in PowerShell)
+    - If not installed, download and install it from [Git Downloads](https://git-scm.com/download){target=_blank}
+2. Configure your name and email: [Git config file setup](https://learn.microsoft.com/en-us/windows/wsl/tutorials/wsl-git#git-config-file-setup){target=_blank}
+   (on Windows, run commands in Ubuntu)
+3. Login to GitHub
+
+    === ":material-microsoft-windows: Windows"
+
+        1. Run the `git config` command for your Git version in [Git Credential Manager setup](https://learn.microsoft.com/en-us/windows/wsl/tutorials/wsl-git#git-credential-manager-setup){target=_blank} (run command in Ubuntu)
+
+            !!! warning "Which Git to check"
+
+                Git is installed seperately in Windows and Ubuntu, so they could be at different versions.
+                We want to check the version of Git on Windows, not Ubuntu:
+                run `git --version` in PowerShell and not Ubuntu.
+                However, the `git config` command itself is run in Ubuntu.
+
+    === ":material-apple: macOS / :material-linux: Linux"
+
+        1. Install the GitHub CLI: [Installation](https://github.com/cli/cli#installation){target=_blank}
+        2. Run `gh auth login` and select the first option for all choices
+
+4. Verify that you have successfully logged in to GitHub by cloning a private GitHub repository (run command in Ubuntu)
+    1. If you are a part of the [UBCSailbot Software GitHub team](https://github.com/orgs/UBCSailbot/teams/software-team){target=_blank},
+       you shouldn't see any errors running `git clone https://github.com/UBCSailbot/raye-ais.git`
+    2. You can delete this repository with `rm -rf raye-ais`
+
+[^4]: [Git SCM](https://git-scm.com){target=_blank}
+
+## 2. Setup X11 forwarding
+
+X11 forwarding is a mechanism that enables Sailbot Workspace to run GUI applications.
+
+!!! warning ""
+
+    You can skip this step since we currently aren't running any GUI applications
+
+??? info "Setup instructions for X11 forwarding"
+
+    1. Ensure that the versions of VS Code and its Dev Containers extension support X11 forwarding:
+        1. VS Code version >= 1.75
+        2. Dev Containers version >= 0.275.1
+    2. Verify that `echo $DISPLAY` returns something like `:0`
+
+        ??? warning "`echo $DISPLAY` doesn't return anything"
+
+            If `echo $DISPLAY` doesn't return anything, set it to `:0` on shell initialization:
+
+            1. Find out what shell you are using with `echo $SHELL`
+                1. Most Linux distributions use Bash by default, whose rc file path is `~/.bashrc`
+                2. macOS uses Zsh by default, whose rc file path is: `~/.zshrc`
+            2. Run `echo 'export DISPLAY=:0' >> <rc file path>`, replacing `<rc file path>`
+            with the path to your shell's rc file
+            3. Run `echo $DISPLAY` after closing and reopening your terminal, verifying it returns something like `:0`
+
+    3. Install a X11 server
+
+        === ":material-microsoft-windows: Windows"
+
+            WSL includes a X11 server.
+
+        === ":material-apple: macOS"
+
+            1. Set up XQuartz following [this guide](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088){target=_blank}
+            2. Copy the default xinitrc to your home directory: `cp /opt/X11/etc/X11/xinit/xinitrc ~/.xinitrc`
+            3. Add `xhost +localhost` to `~/.xinitrc` after its first line
+
+        === ":material-linux: Linux"
+
+            === ":material-linux: General"
+
+                As of February 2023, almost all Linux distributions include a X11 server, Xorg.
+                This may change in the future as Wayland matures.
+
+            === ":material-arch: Arch Linux"
+
+                1. Install xhost: `sudo pacman -S xorg-xhost`
+                2. Copy the default xinitrc to your home directory: `cp /etc/X11/xinit/xinitrc ~/.xinitrc`
+                3. Add `xhost +local:docker` to `~/.xinitrc` after its first line
+
+    4. Verify that X11 forwarding works:
+        1. Install `x11-apps`
+
+            === ":material-microsoft-windows: Windows"
+
+                In Ubuntu, `sudo apt install x11-apps`.
+
+            === ":material-apple: macOS"
+
+                XQuartz includes `x11-apps`. Ensure that XQuartz is running.
+
+            === ":material-linux: Linux"
+
+                Install `x11-apps` using your desired package manager.
+
+        2. Verify that running `xcalc` opens a calculator and that you can use it
+
+## 3. Clone Sailbot Workspace
+
+!!! tip "Where to clone on Windows"
+
+    **Run the command below in the Ubuntu app** to clone it in the Ubuntu file system, otherwise sailbot workspace will not work.
+    Windows has a native file system as well as file systems for each WSL distribution.
+
+```sh
+git clone https://github.com/UBCSailbot/sailbot_workspace.git
+```
+
+## 4. Open Sailbot Workspace in VS Code
+
+1. Install `code` command in `PATH`
+
+    === ":material-microsoft-windows: Windows"
+
+        The `code` command is installed by default.
+
+    === ":material-apple: macOS"
+
+        See [launching from the command line](https://code.visualstudio.com/docs/setup/mac#_launching-from-the-command-line){target=_blank}.
+
+    === ":material-linux: Linux"
+
+        The `code` command is installed by default.
+
+2. Open the `sailbot_workspace/` directory in VS Code: run `code <relative path to sailbot workspace>`
+    - For example, if you just cloned the repository, the command would be `code sailbot_workspace`
+
+## 5. Open the workspace file
+
+Click the popup to `Open Workspace`. If there isn't a popup:
+
+1. Open the file `sailbot.code-workspace` in VS Code
+2. Click `Open Workspace`
+
+## 6. Open Sailbot Workspace in a Dev Container
+
+1. Ensure that Docker is running
+2. Click the popup to `Reopen in Container`. If there isn't a popup,
+   run the `Dev Containers: Reopen in Container` VS Code command
+
+## 7. Run the `setup` task
+
+The `setup` task clones the repositories defined in `src/polaris.repos` and updates dependencies of the ROS packages.
+If you don't know how to run a VS Code task, see [How to run VS Code commands, tasks, and launch configurations](./how_to.md#run-vs-code-commands-tasks-and-launch-configurations).
+
+??? bug "Can't see the `setup` task"
+
+    If you can't see the `setup` task, run the `Developer: Reload Window` VS Code command.
+    This may occur when the workspace file is opened for the first time.
+
+## 8. Run the `Build All` task
+
+The `Build All` task builds all the ROS packages.
+
+## 9. Reload the VS Code terminals and window
+
+Delete all open terminals and run the `Developer: Reload Window` VS Code command
+to detect the files that were generated from building.
+
+## 10. Start the system
+
+Run the entire system to verify everything is working using the following command in the VS Code terminal:
+
+```sh
+ros2 launch $ROS_WORKSPACE/src/global_launch/main_launch.py
+```
+
+Use ++ctrl+c++ in the terminal to stop the system.
+
+## Setup Sailbot Workspace in a GitHub Codespace
+
+A codespace is a development environment that's hosted in the cloud.[^5]
+Since Sailbot Workspace is resource intensive, it has high hardware requirements and power consumption,
+which aren't ideal for development on laptops. GitHub Codespaces provide a seamless experience to work on repositories
+off-device, especially if they specify a Dev Container like Sailbot Workspace. Codespaces can run in VS Code
+or even in a browser for times when you aren't on your programming computer.
+
+1. Create a GitHub Codespace following the steps in the relevant GitHub Docs page:
+[create a codespace for a repository](https://docs.github.com/en/codespaces/developing-in-codespaces/creating-a-codespace-for-a-repository#creating-a-codespace-for-a-repository){target=_blank}.
+A couple things to note:
+    - For the best Sailbot Workspace development experience, select the high-spec machine available
+    - There are usage limits if you don't want to pay:
+    [monthly included storage and core hours for personal accounts](https://docs.github.com/en/billing/managing-billing-for-github-codespaces/about-billing-for-github-codespaces#monthly-included-storage-and-core-hours-for-personal-accounts){target=_blank}
+        - Upgrade to a Pro account for increased usage limits (this is free for students):
+        [apply to GitHub Global Campus as a student](https://docs.github.com/en/education/explore-the-benefits-of-teaching-and-learning-with-github-education/github-global-campus-for-students/apply-to-github-global-campus-as-a-student){target=_blank}
+        - Stop your codespace as soon as you are done using it:
+        [stopping a codespace](https://docs.github.com/en/codespaces/developing-in-codespaces/stopping-and-starting-a-codespace#stopping-a-codespace){target=_blank}
+        - Delete codespaces that you do not plan to use anymore:
+        [deleting a codespace](https://docs.github.com/en/codespaces/developing-in-codespaces/deleting-a-codespace#deleting-a-codespace){target=_blank}
+2. Follow the local setup instructions starting from [5. Open the workspace file](#5-open-the-workspace-file)
+
+Once you have a codespace set up:
+
+- Open it by following the steps in the relevant GitHub Docs page:
+[reopening a codespace](https://docs.github.com/en/codespaces/developing-in-codespaces/opening-an-existing-codespace#reopening-a-codespace){target=_blank}
+- Close it by running the `Codespaces: Stop Current Codespace` VS Code command
+
+!!! warning "Known limitations of running Sailbot Workspace in a GitHub Codespace"
+
+    - Does not support X11 forwarding to run GUI applications
+    - High-spec machines not available: as of March 2023, the highest-spec machine that is publically available
+      has a 4-core CPU and 8GB of RAM
+
+[^5]: [GitHub Codespaces overview](https://docs.github.com/en/codespaces/overview){target=_blank}
diff --git a/docs/current/sailbot_workspace/workflow.md b/docs/current/sailbot_workspace/workflow.md
new file mode 100644
index 000000000..073893715
--- /dev/null
+++ b/docs/current/sailbot_workspace/workflow.md
@@ -0,0 +1,224 @@
+# Development Workflow
+
+## 1. Open Sailbot Workspace
+
+Once you have [set up Sailbot Workspace](setup.md), you can open it by opening a new VS Code window and selecting:
+
+```
+File > Open Recent > /workspaces/sailbot_workspace/.devcontainer/config/sailbot_workspace (Workspace) [Dev Container: Sailbot Workspace]
+```
+
+??? tip "Another way to open Sailbot Workspace on Windows"
+
+    1. Pin VS Code to the taskbar
+    2. Right-click VS Code in the taskbar and pin `sailbot_workspace (Workspace) [Dev Container]`
+
+    Then you can open Sailbot Workspace by selecting it from the "Pinned" section of the VS Code taskbar icon's
+    right-click menu.
+
+## 2. Update Sailbot Workspace
+
+Sailbot Workspace is still in active development, check out its [recent releases](https://github.com/UBCSailbot/sailbot_workspace/releases){target=_blank}
+and [commit history](https://github.com/UBCSailbot/sailbot_workspace/commits/main){target=_blank}.
+If there are new features or bug fixes that you want to try, you will need to update your local version of Sailbot Workspace:
+
+1. Switch Sailbot Workspace to the main branch if you aren't in it already
+
+    ??? tip "If you running Git commands in the CLI, make sure that you are in the correct repository"
+
+        Sailbot Workspace contains other repositories in the `src/` directory, so if you are in one of its subdirectories
+        you may be in the wrong repository.
+
+        To check which repository you are in, run `git remote -v`; if its output contains `sailbot_workspace`,
+        you are good to go.
+        If not, you can navigate the root directory of the Sailbot Workspace repository with `cd $ROS_WORKSPACE`,
+        or open a new terminal in its root directory with ++ctrl+shift+grave++ then ++enter++.
+
+    - If you are unable to switch branches because you have uncommitted changes, stash them
+
+2. Pull the latest changes
+    - If you stashed your uncommitted changes, pop them
+3. If prompted, rebuild the Dev Container
+
+    ??? question "When does the Dev Container need to be rebuilt?"
+
+        To apply the modifications to its configuration files in `.devcontainer/` that occurred since it was last built.
+
+        VS Code will prompt you to rebuild when `devcontainer.json`, `Dockerfile`, or `docker-compose*.yml`.
+        These file may be modified if you:
+
+        - Pull the lastest changes of a branch
+        - Switch branches
+        - Update a file in `.devcontainer/` yourself
+
+        However, there may be changes to the Dev Container that VS Code can't detect.
+        To rebuild it yourself, run the `Dev Containers: Rebuild Container` VS Code command.
+
+4. If you aren't working in any other branches,
+   run the `setup` task to switch the branches of all sub-repositories to their default specified in `src/polaris.repos`
+   and pull their latest changes
+5. If you want to run our docs, website, or other optional programs, see [How to run optional programs](./how_to.md#run-optional-programs){target=_blank}
+
+## 3. Make your changes
+
+We make changes to our software following our [GitHub development workflow](https://ubcsailbot.github.io/docs/reference/github/workflow/overview/){target=_blank}.
+Of particular relevance is the [Developing on Branches page](https://ubcsailbot.github.io/docs/reference/github/workflow/branches/){target=_blank}.
+
+!!! tip "Git interfaces"
+
+    One way to interface with Git is through CLI commands. However, you may find it faster to use
+    [VS Code's interface](https://code.visualstudio.com/docs/sourcecontrol/overview){target=_blank},
+    especially when working with multiple repositories.
+
+Things to note when making changes:
+
+- When C++ or Python files are saved, you may notice that some lines change. We use formatters to help fix lint errors;
+  not all lint errors can be fixed by formatters, so you may have to resolve some manually
+- When changing a package's source files, you likely should update its test files accordingly
+
+## 4. Build your changes
+
+!!! info ""
+
+    Revamped in [:octicons-tag-24: v1.2.0](https://github.com/UBCSailbot/sailbot_workspace/releases/tag/v1.2.0){target=_blank}
+
+In general, changes need to be built before they can be run. You can skip this step if you only modified Python source
+or test files (in `python_package/python_package/` or `python_package/test`, respectively), or are running a launch type
+launch configuration.
+
+1. Depending on which packages you modified, run the `Build All` or `Build Package` task
+    1. Unless you want to run `clang-tidy`, use the `-q` build argument (default) for quicker build times
+
+## 5. Verify your changes
+
+!!! info ""
+
+    Revamped in [:octicons-tag-24: v1.2.0](https://github.com/UBCSailbot/sailbot_workspace/releases/tag/v1.2.0){target=_blank}
+
+??? tip "Running GUI applications on macOS"
+
+    If you want to run GUI applications on macOS, ensure that XQuartz is running.
+
+### Lint and Test
+
+Run lint and test tasks to make sure you changes will pass our CI:
+
+- `ament lint`
+- For C++ packages, `clang-tidy`
+- `test`
+
+In addition to VS Code tasks, the :fontawesome-solid-flask: **Testing** tab on the VS Code primary sidebar
+contains individual tests. One can run specific unit tests by clicking the :material-play-outline: **Run Test**
+icon beside the test name.
+
+<img
+    alt="VS Code Test Tab" src="../../../assets/images/sailbot_workspace/workflow/vscode_testing_tab.png"
+    style="display: block; margin-left: auto; margin-right: auto; width: 50%;"
+/>
+
+### Run a Package
+
+To verify that your changes do what you expect, you may want to run the package you modified. The run commands for each
+package should be documented in their READMEs, but in general they can be run using a CLI or VS Code command:
+
+=== ":octicons-command-palette-16: CLI"
+    - Launch files:
+        - `ros2 launch <package> <launch file>`
+        - `ros2 launch <path to launch file>`
+    - Nodes:
+        - `ros2 run <package> <executable>`
+
+    ??? tip "CLI features"
+
+        There are many commands that can be autocompleted in the terminal.
+        Take advantage of this so that you run commands faster and memorize less syntax.
+        If there is only one possibility, pressing tab once will complete it.
+        If there is more than one possibility, pressing tab again will list them out.
+
+        Some tab completion use cases:
+
+        - View available commands: lists all `ros2` commands
+
+            ```console
+            $ ros2 <tab><tab>
+            action                          extension_points                multicast                       security
+            bag                             extensions                      node                            service
+            ...
+            ```
+
+        - Complete commands: runs `ros2 launch local_pathfinding main_launch.py`
+
+            ```console
+            $ ros2<tab>la<tab>loc<tab>m<tab>
+            ```
+
+        - Navigate to directories: runs `cd .devcontainer/config` from the root directory of Sailbot Workspace
+
+            ```console
+            $ cd .d<tab>c<tab>
+            ```
+
+        Furthermore, navigate past commands with ++arrow-up++ and ++arrow-down++ and search through them with ++ctrl+r++.
+
+=== ":material-microsoft-visual-studio-code: VS Code"
+    - Launch files: `ROS: Run a ROS launch file (roslaunch)`
+    - Nodes: `ROS: Run a ROS executable (rosrun)`
+
+For more information on launch file use in our system, see [this page](./launch_files.md){target=_blank}.
+
+### Run the System
+
+To verify that you didn't break anything, you may want to run the entire system. See
+[Invoking Launch Files](./launch_files.md#invoking-launch-files) for more information
+on running the system.
+
+### Debugging
+
+Debug your changes if they aren't behaving how you expect by setting breakpoints and running one of our launch
+configurations in the **Run and Debug** tab on the VS Code primary sidebar. The launch configuration types are:
+
+- Launch: runs the desired launch file or executable
+    - For launch files, `ROS: Launch`
+    - For C++ executables, `C++ (GDB): Launch`
+- Attach: attaches to a running executable
+    - `ROS: Attach`
+
+## Troubleshooting
+
+If you are having some trouble running our software, here are some things you can try:
+
+- Build from scratch
+    1. Run the `clean` task to delete C++ generated files
+    2. Run the `purge` task to delete ROS generated files
+    3. Run the `Build All` task to rebuild
+- Rebuild the Dev Container: run the `Dev Containers: Rebuild Container` VS Code command
+- Reload VS Code: run the `Developer: Reload Window` VS Code command
+- Delete Docker files
+
+    ??? tip "Running Docker CLI commands on Windows"
+
+        On Windows, Docker CLI commands should be run in the Ubuntu terminal while Docker Desktop is running.
+
+    - Run `docker system prune` to remove all unused containers, networks, and dangling and unreferenced images
+        - Add `--all` to additionally remove unused images (don't have a container associated with them)
+        - Add `--volumes` to additionally remove volumes (makes Bash history and ROS logs persist across containers)
+    - Run `docker rmi -f $(docker images -aq)` to remove all images
+
+## Performance Issues
+
+If you are not satisfied with the performance of Sailbot Workspace, here are some things you can try:
+
+- Free up memory: close programs that you aren't using
+- Free up disk space: permanently delete large programs and files that you don't need anymore
+- Run Sailbot Workspace in a GitHub Codespace
+    - In a codespace with 8GB of RAM, building all packages from scratch with the `-q` argument takes about a minute.
+    If your computer takes longer than, or you want to free up memory and disk space, you can
+    [setup Sailbot Workspace in a GitHub Codespace](./setup.md#setup-sailbot-workspace-in-a-github-codespace){target=_blank}
+- If you are running Sailbot Workspace on Windows, dual boot Ubuntu and run Sailbot Workspace there
+    - Sailbot Workspace performs worse on Windows than bare metal Linux because it uses Docker, which is not natively supported.
+    - Here is a guide to dual boot the operating systems we recommend: [How to Dual Boot Ubuntu 22.04 LTS and Windows 11](https://www.linuxtechi.com/dual-boot-ubuntu-22-04-and-windows-11/){target=_blank}
+        - We recommend allocating at least 50 GB to Ubuntu to leave some wiggle room for Docker
+        - The process is similar for other Ubuntu and Windows versions,
+          but feel free to search for a guide specific to the combination you want to dual boot
+        - Since Sailbot Workspace uses Docker, it should be able to run on any Linux distribution, not just Ubuntu.
+          However, we may not be able to provide support if you encounter any difficulties with this
diff --git a/docs/current/website/overview.md b/docs/current/website/overview.md
new file mode 100644
index 000000000..102298480
--- /dev/null
+++ b/docs/current/website/overview.md
@@ -0,0 +1,7 @@
+!!! quote "Source code"
+
+    The source code for Website can be found in the
+    [website](https://github.com/UBCSailbot/website){target=_blank} GitHub repository.
+    Its README has been copied below.
+
+--8<-- "https://raw.githubusercontent.com/UBCSailbot/website/main/README.md"
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 000000000..cf49b45eb
--- /dev/null
+++ b/docs/index.md
@@ -0,0 +1,39 @@
+---
+hide:
+  - navigation
+  - toc
+---
+
+# UBCSailbot Software Team Docs
+
+Welcome to the UBC Sailbot software team docs :wave:
+
+Looking to get started with running the Sailbot codebase? Start by setting up the Sailbot Workspace:
+
+[:octicons-arrow-right-24: Getting Started](./current/sailbot_workspace/setup.md){target=_blank}
+
+## :fontawesome-solid-circle-info: What information is on this website?
+
+Information on our current project is contained on this website. In particular, information on each of our major software
+projects are provided in detail.
+
+[:octicons-arrow-right-24: Current Project Overview](./current/overview.md){target=_blank}
+
+References to the software tools that we use are also provided on this website. This includes basic information on these
+tools, how we use these tools on UBC Sailbot, and external links to helpful references and tutorials.
+
+[:octicons-arrow-right-24: Software Team References](./reference/cpp/start.md){target=_blank}
+
+## :octicons-people-24: Who is this website for?
+
+The docs site is primarily for the members on the UBC Sailbot software team. However, curious members of the public and/or
+those who are interested in contributing to our open source software would also benefit from this site.
+
+## :material-sail-boat: Prospective Members
+
+Are you a member of the UBC community? Are you interested in what we do at UBC Sailbot? We are always looking for motivated
+students to help us tackle the challenge of autonomous sailing. Learn more below!
+
+[:octicons-arrow-right-24: Software Team Posting](https://docs.google.com/document/d/1bToOV3JvMZFJ9jotrjlFIvDgY8xiXfH7Yg1wkGm8Qf4/edit?usp=sharing){target=_blank}
+
+[:octicons-arrow-right-24: Apply to join UBC Sailbot](https://www.ubcsailbot.org/recruitment){target=_blank}
diff --git a/docs/javascripts/mathjax.js b/docs/javascripts/mathjax.js
new file mode 100644
index 000000000..080801efb
--- /dev/null
+++ b/docs/javascripts/mathjax.js
@@ -0,0 +1,16 @@
+window.MathJax = {
+  tex: {
+    inlineMath: [["\\(", "\\)"]],
+    displayMath: [["\\[", "\\]"]],
+    processEscapes: true,
+    processEnvironments: true
+  },
+  options: {
+    ignoreHtmlClass: ".*|",
+    processHtmlClass: "arithmatex"
+  }
+};
+
+document$.subscribe(() => { 
+  MathJax.typesetPromise()
+})
diff --git a/docs/javascripts/table_of_contents_themes.js b/docs/javascripts/table_of_contents_themes.js
new file mode 100644
index 000000000..037d8ba45
--- /dev/null
+++ b/docs/javascripts/table_of_contents_themes.js
@@ -0,0 +1,55 @@
+const LIGHT_MODE = 0;
+const DARK_MODE = 1;
+const LIGHT_MODE_TABLE_OF_CONTENTS_LINK_COLOR = "#000000"; // Black
+const DARK_MODE_TABLE_OF_CONTENTS_LINK_COLOR = "#ffffff";  // White
+const SAILBOT_BLUE = "#2f97ec";
+
+// Sets the theme given a mode
+function set_table_of_content_link_color(mode) {
+    let linkColor = "";
+    switch (mode) {
+        case LIGHT_MODE:
+            linkColor = LIGHT_MODE_TABLE_OF_CONTENTS_LINK_COLOR;
+            break;
+        case DARK_MODE:
+            linkColor = DARK_MODE_TABLE_OF_CONTENTS_LINK_COLOR;
+            break;
+        default:
+            console.log("Error determining website theme. Defaulting table of content link color to sailbot blue.");
+            linkColor = SAILBOT_BLUE;
+            break;
+    }
+    document.documentElement.style.setProperty("--md-table-of-contents-link-color", linkColor);
+}
+
+// Returns the new theme index given the current theme
+function toggle_table_of_contents_link_color(current_mode) {
+    switch (current_mode) {
+        case LIGHT_MODE:
+            return DARK_MODE;
+        case DARK_MODE:
+            return LIGHT_MODE;
+        default:
+            return -1;
+    }
+}
+
+// An enslosure that keeps track of the mode and toggles the theme accordingly
+const theme_enclosure = function(initial_mode) {
+    let current_mode = initial_mode;
+    return {
+        setLinkColor: () => {set_table_of_content_link_color(current_mode);},
+        toggleLinkColor: () => {current_mode = toggle_table_of_contents_link_color(current_mode); set_table_of_content_link_color(current_mode);}
+    };
+};
+
+// Set the theme upon the window loading
+var initial_mode = __md_get("__palette").index;
+table_of_contents_theme = theme_enclosure(initial_mode);
+table_of_contents_theme.setLinkColor();
+
+// Set the theme when the light/dark mode button is clicked
+const buttons = document.querySelectorAll("form.md-header__option > label.md-header__button");
+buttons.forEach((button) => {
+    button.addEventListener('click', table_of_contents_theme.toggleLinkColor);
+});
diff --git a/docs/overrides/main.html b/docs/overrides/main.html
new file mode 100644
index 000000000..d75754906
--- /dev/null
+++ b/docs/overrides/main.html
@@ -0,0 +1,8 @@
+{% extends "base.html" %}
+
+{% block outdated %}
+  You're not viewing the version in the main branch.
+  <a href="{{ '../' ~ base_url }}">
+    <strong>Click here to go to main.</strong>
+  </a>
+{% endblock %}
diff --git a/docs/reference/cpp/differences.md b/docs/reference/cpp/differences.md
new file mode 100644
index 000000000..9cdbe9ad1
--- /dev/null
+++ b/docs/reference/cpp/differences.md
@@ -0,0 +1,280 @@
+# Differences Between C and C++
+
+For most use cases, you can think of C++ as a superset of C. While this is not technically true, more often than not
+you are able to write standard C code for a C++ program without issues. However, doing so ignores a lot of the benefits
+and reasons to use C++.
+
+## Classes and Structs
+
+In C structs can only contain member variables, but in C++ structs are basically classes but with a default member
+visibility of public instead of private.
+
+???+ example
+    The following code blocks are equivalent.
+
+    ```C++
+    struct foo {
+    private:
+        int x;
+        void helper(void);
+    public:
+        foo(int y);
+    }
+    ```
+
+    ```C++
+    class foo {
+    private:
+        int x;
+        void helper(void);
+    public:
+        foo(int y);
+    }
+    ```
+
+## Namespaces
+
+One problem that is prevalent in C concerns the scoping of names. For example, let there be two files `A.h` and `B.h`
+and a program `ighxy.c`, and let them both contain a `float x` and `int bar(void)`.
+
+Our program cannot compile because the linker cannot distinguish which `bar()` function we want to use! One way to fix
+this in a C program would be to rename them `a_bar()` and `b_bar()`. Although this fix seems trivial for this example,
+applying it to a file that has potentially 100 functions can be a lot more difficult, especially if two files just
+happen to share the same prefix for their functions!
+
+C++ introduces namespaces to tackle this problem. With namespaces, we can deal with naming conflicts much more easily.
+Though be aware that namespaces are not necessary everywhere. See the following code snippet to see how they work.
+
+??? Example
+
+    === "C"
+
+        ```C title="A.h"
+        float x;
+        int bar(void);
+        ```
+
+        ```C title="B.h"
+        float x;
+        int bar(void);
+        ```
+
+        ```C title="ighxy.c"
+        #include "A.h"
+        #include "B.h"
+
+        int main(void) {
+            int a = bar();
+            ...
+        }
+        /* Error, does not compile*/
+        ```
+
+    === "C++"
+
+        ```C++ title="A.h"
+        namespace a {
+        float x;
+        int bar(void);
+        }
+        ```
+
+        ```C++ title="B.h"
+        namespace b {
+        float x;
+        int bar(void);
+        }
+        ```
+
+        ```C++ title="ighxy.cpp"
+        #include "A.h"
+        #include "B.h"
+
+        int main(void) {
+            int a = a::bar();
+            int b = b::bar();
+            float xa = a::x;
+            float xb = b::x;
+            /* No problem! */
+            ...
+        }
+        ```
+
+???+ warning
+    You may come across something like:
+
+    ```C++ title="example.cpp"
+    using namespace std;
+    namespace io = std::filesystem;
+
+    int main(int argc, char* argv[]) {
+        bool isDirectory = io::is_directory(argv[1]);  // Equivalent to std::filesystem::is_directory(argv[1])
+        cout << isDirectory << endl;
+        return 0;
+    }
+    ```
+
+    There are two things going on here.
+
+    First, `using namespace std` makes all functions and types defined within the standard namespace and included via 
+    `#include` directives visible to `example.cpp`. If you are familiar with Python, the Python equivalent of this would
+    be `import std as *`. However, it is considered *bad* practice to do this as it eliminates the point of using
+    namespaces.
+
+    === "OK"
+
+        ```C++
+            class string {
+                // Insert implementation here
+            }
+
+            int main(void) {
+                string ourString = "Our own string implementation";
+                std::string stdString = "Standard Library string implementation";
+                ...
+            }
+        ```
+
+    === "Not OK"
+
+        ```C++
+            using namespace std;
+
+            // ERROR - multiple definitions of type string
+            class string {
+
+            }
+        ```
+
+        The compiler cannot infer which implementation we want.
+
+    Secondly, `namespace io = std::filesystem` is basically an alias for the `std::filesystem` namespace. This practice
+    is acceptable for long namespace identifiers, but be careful as it can still run into namespace conflicts if your
+    alias is the same as another namespace or alias.
+
+## Constant Expressions
+
+In C, if we want to declare a constant or a function/expression that we want to be evaluated at compile time, we need
+to use `#define` statements. One of the problems with `#define` statements is that they perform a simple copy paste
+wherever they're used. For example:
+
+=== "Before Precompile"
+
+    ```C
+    #define PI 3.14F
+    #define AREA_OF_CIRCLE(radius) ((PI) * (radius) * (radius))
+
+    int main(void) {
+        float area = AREA_OF_CIRCLE(2.5F);
+        ...
+    }
+    ```
+
+=== "After Precompile"
+
+    ```C++
+    int main(void) {
+        float area = ((3.14F) * (2.5F) * (2.5F));
+        ...
+    }
+
+    ```
+
+!!! note
+    `AREA_OF_CIRCLE` is a macro with arguments. If you are confused by it, [this resource](https://www.cs.yale.edu/homes/aspnes/pinewiki/C(2f)Macros.html){target=_blank}
+    has a detailed explanation on how they work.
+
+Because of this copy-pasting, you need to be very careful with syntax, sometimes necessitating an ugly
+[`do {} while(0)` wrapper](https://stackoverflow.com/questions/1067226/c-multi-line-macro-do-while0-vs-scope-block){target=_blank}.
+Moreover, symbols declared with `#define` are always globally visible, ignoring namespaces!
+
+In C++, the use of constant expressions are preferred.
+
+```C++
+constexpr float pi = 3.14F;
+constexpr float area_of_circle(float radius) {
+    return pi * radius * radius;
+}
+```
+
+Constant expressions do *not* get copy pasted, and are instead placed in program memory just like a normal variable
+or function. They also respect namespaces and function scopes, meaning the following code compiles.
+
+```C++ title="Constant Expression Scoping"
+void foo(void) {
+    constexpr float rand = 123.456;
+    ...
+}
+
+void bar (void) {
+    constexpr float rand = 789.123;
+    ...
+}
+```
+
+## Lambdas
+
+Lambdas are primarily useful when you need to register a callback function one time and don't feel it's necessary to
+write out a full function. They are in no way required though, so do not worry about learning them. However, it's
+necessary to know that they exist such that you don't get confused when reading code. For more information, [go here](https://learn.microsoft.com/en-us/cpp/cpp/lambda-expressions-in-cpp?view=msvc-170){target=_blank}
+for Microsoft's explanation.
+
+## Misc
+
+### Arrays
+
+Using the [C++ implementation of arrays](https://en.cppreference.com/w/cpp/container/array#:~:text=std%3A%3Aarray%20is%\20a%20container%20that%20encapsulates%20fixed%20size,C-style%20array%2C%20it%20doesn%27t%20decay%20to%20T%2A%20automatically.){target=_blank}
+is preferred over C arrays. It is simply easier and safer to work with than a standard C array without any performance
+costs.
+
+???+ example
+
+    Passing an array to a function an iterating over it
+
+    === "C"
+
+        ```C
+        #include "stdio.h"
+
+        void print_contents(int *arr, int size) {
+            for (int i = 0; i < size; i++) {
+                printf("%d\n", *arr);
+            }
+        }
+
+        int main(void) {
+            int arr[5] = {0, 1, 2, 3, 4};
+            foo(arr, 5);
+            return 0;
+        }
+        ```
+        We can't even guarantee that the integer pointer `arr` is an array!
+
+    === "C++"
+
+        C++ 20 makes passing arrays around a lot simpler. Do not worry about understanding the code shown below. It uses
+        some fairly advanced concepts and exists to illustrate how different such a simple operation can be.
+
+        ```C++
+        #include <iostream>
+        #include <array>
+        #include <span>
+
+        void print_contents(std::span<int> container) {
+            for (const auto &e : container) {
+                std::cout << e << std::endl;
+            }
+        }
+
+        int main(void) {
+            std::array<int, 5> arr = {0, 1, 2, 3, 4};
+            foo(arr);
+            return 0;
+        }
+        ```
+
+        The advantages of the C++ version are:
+
+        * Size is implicitly part of the object
+        * We guarantee that foo takes a container, but it does not care if it's an array or, say, a vector, which is
+          preferable in this scenario where we simply iterate through the container's existing elements
diff --git a/docs/reference/cpp/start.md b/docs/reference/cpp/start.md
new file mode 100644
index 000000000..76383bdf3
--- /dev/null
+++ b/docs/reference/cpp/start.md
@@ -0,0 +1,31 @@
+# Getting Started
+
+UBC Sailbot's Network Systems team uses C++ for its software. If you know already know C, then you already know the
+bare minimum to write C++. This is a good starting point, but the additional features C++ provides allow for safer
+programming practices.
+
+## For C/C++ Beginners
+
+If you just need to know how C++ is different from C, then see the [Differences Between C and C++](./differences.md).
+You should also look at it if you go through and finish this section.
+
+If you are new to C and C++, then this the best place to start. The tutorials provided in this section will help you
+learn the fundamentals of the language. Do not feel pressured to do all the tutorials! Just get comfortable with the
+syntax and the mechanisms of the language.
+
+!!! note
+    The hardest part about this will likely be pointers and dynamic memory, so pay close attention to tutorials
+    concerning them! Additionally, dynamic memory requires the usage of pointers, but pointers do not require dynamic
+    memory!
+
+!!! tip
+    Dynamic memory is much more prone to error than statically allocated memory, so try to use static allocation
+    whenever possible
+
+| Resource               | Description                                                                                 |
+| :--------------------- | :------------------------------------------------------------------------------------------ |
+| [w3schools Tutorial](https://www.w3schools.com/cpp/default.asp){target=_blank} | A structured tutorial that goes through basic concepts in C++. It's good to do up to the section on Classes. |
+| [YouTube Tutorial](https://youtu.be/vLnPwxZdW4Y){target=_blank} | If you prefer video tutorial, then this is a comprehensive 4 hour video covering similar concepts to the one above. It is 4 hours long though. |
+| [Dynamic Memory Overview](https://www.tutorialspoint.com/cplusplus/cpp_dynamic_memory.htm){target=_blank} | A page going over how dynamic memory works in C++. |
+
+Feel free to add other resources other than the ones listed above if you find any that you like!
diff --git a/docs/reference/cpp/tools.md b/docs/reference/cpp/tools.md
new file mode 100644
index 000000000..750b20511
--- /dev/null
+++ b/docs/reference/cpp/tools.md
@@ -0,0 +1,127 @@
+# Tools
+
+A lot goes into making a well structured C++ project, much more than any one team should have to do.
+
+## CMake
+
+CMake is a powerfull build automation tool that makes compiling code for large projects with a lot of interoperating
+files a lot easier. Steps 1-3 of the [official tutorial](https://cmake.org/cmake/help/latest/guide/tutorial/index.html){target=_blank}
+are great for understanding the basics.
+
+## GDB
+
+The [GNU Project Debugger](https://www.sourceware.org/gdb/){target=_blank} is the most commonly debugger for the C
+language family.
+VSCode also has a degree of integration with GDB that allows an easy to use GUI. This [GDB cheat sheet](https://darkdust.net/files/GDB%20Cheat%20Sheet.pdf){target=_blank}
+has all the GDB comands you will need to know. Be aware the VSCode has GUI buttons for some of these commands that are
+easier to use.
+
+<!-- TODO Add examples with screenshots -->
+
+## GoogleTest
+
+[GoogleTest](https://github.com/google/googletest){target=_blank} is the C++ unit testing framework we will be using.
+The [GoogleTest Primer](https://google.github.io/googletest/primer.html){target=_blank} is a good place to start.
+
+??? example
+
+    === "Cached Fibonacci Program"
+
+        ```C++ title="cached_fib.h"
+        #include <vector>
+        class CachedFib {
+        public:
+            void CachedFib(int n);
+            int  getFib(int n);
+        private:
+            std::vector<int> cache;
+        }
+        ```
+
+        ```C++ title="cached_fib.cpp"
+        #include <iostream>
+        #include <vector>
+        #include "cached_fib.h"
+
+        void CachedFib::CachedFib(int n) {
+            cache.push_back(0);
+            cache.push_back(1);
+            for (int i = 2; i < n; i++) {
+                cache.push_back(cache[i - 1] + cache[i - 2]);
+            }
+        }
+
+        int CachedFib::getFib(int n) {
+            if (cache.size() < n) {
+                for (int i = cache.size(); i < n; i++) {
+                    cache.push_back(cache[i-1] + cache[i-2]);
+                }
+            }
+            std::cout << cache[n - 1] << std::endl;
+        }
+        ```
+
+    === "Test Cached Fibonacci Program"
+
+        ```C++ title="test_cached_fib.cpp"
+
+        #include "cached_fib.h"
+        #include "gtest/gtest.h"
+
+        CachedFib::testFib;
+
+        class TestFib : public ::testing::Test {
+        protected:
+            void Setup override {
+                // Every time a test is started, testFib is reinitialized with a constructor parameter of 5
+                testFib = CachedFib(5);
+            }
+        }
+
+        TEST_F(TestFib, TestBasic) {
+            ASSERT_EQ(getFib(5), 3) << "5th fibonacci number must be 3!";
+        }
+
+        // more tests
+
+        ```
+
+<!-- ## Google Mock Not sure if we're going to use this yet -->
+
+## Google Protocol Buffer
+
+[Google Protocol Buffer](https://developers.google.com/protocol-buffers){target=_blank} (Protobuf) is a portable data serialization
+method. We use it over other methods like JSON and XML because it produces smaller binaries, an important consideration
+when sending data across an ocean. Unfortunately, there does not seem to be a easy to follow tutorial for using them,
+but here are the [C++ basics](https://developers.google.com/protocol-buffers/docs/cpptutorial){target=_blank}. The page
+is quite dense and can be hard to follow, so do not worry if you do not understand it.
+
+## Clang
+
+In its most basic form, [Clang](https://clang.llvm.org/){target=_blank} is a compiler for the C language family.
+Clang has multiple
+benefits like easier portability compared to, for example, GCC. Clang is actually "half" the compiler, the other half
+being LLVM. Without going into unnecessary detail, Clang compiles C++ code to a generic language before LLVM compiles
+it to machine specific language.
+
+### Clangd
+
+[Clangd](https://clangd.llvm.org/){target=_blank} is the Clang language server. It provides a much more powerful
+intellisense than the default one used in VSCode's C/C++ extension.
+
+### Clang-Tidy
+
+[Clang-Tidy](https://clang.llvm.org/extra/clang-tidy/){target=_blank} is a linting tool, who's main purpose is to catch potential
+programming errors caused by bad programming style/practices using just static analysis.
+
+### Clang Format
+
+An autoformatting tool that makes enforcing style guidelines much easier. When se tup, it corrects formatting as soon
+as you hit save.
+
+## llvm-cov
+
+We will use [llvm-cov](https://llvm.org/docs/CommandGuide/llvm-cov.html){target=_blank} to evaluate our test coverage.
+When used with
+[genhtml](https://www.systutorials.com/docs/linux/man/1-genhtml/){target=_blank}, we can generate HTML reports that that
+show our line, function, and branch coverage line-by-line.
diff --git a/docs/reference/github/workflow/branches.md b/docs/reference/github/workflow/branches.md
new file mode 100644
index 000000000..759a66f0c
--- /dev/null
+++ b/docs/reference/github/workflow/branches.md
@@ -0,0 +1,129 @@
+# Developing on Branches
+
+We use branching to work on issues without modifying the main line. This ensures that the main line only
+contains functional code and handles merge conflicts that arise
+when multiple people are developing at the same time. For a quick rundown on branching in git,
+consult the official [git documentation](https://git-scm.com/book/en/v2/Git-Branching-Branches-in-a-Nutshell){target=_blank}.
+
+## Creating a branch
+
+When starting a new issue, you will want to create a new branch for it:
+
+!!! caution
+
+    When creating branches locally, it uses your **local copy** to create the new branch. Remember to do a `git pull` 
+    if you intend on using the latest changes from the remote branch you are creating from.
+
+```bash title="Creating a new branch from main"
+# Switch to main
+git switch main
+
+# Update your local copy
+git pull
+
+# Clone a new branch from main
+git switch -c <branch_name>
+```
+
+**IMPORTANT:** When creating a new branch for an issue, you must create the branch from `main`.
+
+## Branch naming convention
+
+When working on a new issue, you will want to create a branch to work on it. We have the following branch
+naming convention:
+
+```
+user/<github_username>/<issue_number>-<issue_description>
+```
+
+!!! example
+
+    If Jill (GitHub Username: jill99) is going to take on an issue titled "Fix bug on pathfinding software"
+    and the issue number is 39, then the branch named can be named something like `user/jill99/39-fix-pathfinding-bug`.
+
+If the branch that you are creating is not tied to an issue, then you **do not** need to put an issue number.
+A descriptive title will suffice.
+
+## Tracking and committing changes
+
+All files where new changes have been made must first be "staged" in order to make commits:
+
+```
+git add <FILES>
+```
+
+Files that are staged will be part of your next commit. Once you are confident in your changes and you are ready
+to finalize them, then you should commit your changes:
+
+```
+git commit -m "<commit_message>"
+```
+
+Be sure to add a commit message that is descriptive of the changes that you made. It is encouraged that you make commits
+often so you can keep track of your changes more easily and avoid overwhelmingly large commits when you look back on your
+version history.
+
+When you are ready to move your local changes to a remote branch, you want to push to the correct branch
+and potentially set the upstream if it does not yet exist:
+
+```
+git push -u origin <current_branch_name>
+```
+
+## Merging branches
+
+There may be times where you want to merge two branches together, whether you diverged on some ideas and finally
+want to synthesize them, or you just want to update your issue's branch with the main branch. In any case, merging
+branches will be inevitable as part of the development process, so it is essential to understand how to merge branches.
+
+=== "Merge Local Branch"
+
+    ``` bash
+    # Checkout to destination branch
+    git checkout <dest_branch>
+
+    # Merge with local copy of other branch
+    git merge <other_branch>
+    ```
+
+=== "Merge Remote Branch"
+
+    ``` bash
+    # Checkout to destination branch
+    git checkout <dest_branch>
+
+    # Fetch from remote
+    git fetch
+
+    # Merge remote copy of other branch
+    git merge origin/<other_branch>
+    ```
+
+!!! info
+
+    Merging a remote branch into its local counterpart using the method above is essentially
+    the same operation as `git pull`.
+
+Once the merge operation is complete, your destination branch should have updates both from itself and the other
+branch that you merge. If you do a `git log`, you will also see a new commit that indicates that the merge happened.
+
+## Resolving merge conflicts
+
+Merging two branches is not always easy since the commit history for both branches could look quite different, and
+therefore conflicting changes can easily be made. If you run into a scenario like this, you may get something like this:
+
+![image](../../../assets/images/github/workflow/merge_conflict.png)
+
+Upon inspecting `bar.txt`, we see the following:
+
+![image](../../../assets/images/github/workflow/merge_conflict_file.png)
+
+Resolving merge conflicts is not always a trivial task, but there are many ways to resolve them which include:
+
+- [Resolving on GitHub](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/addressing-merge-conflicts/resolving-a-merge-conflict-on-github){target=_blank}
+(recommended)
+- [Resolving in Command Line](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/addressing-merge-conflicts/resolving-a-merge-conflict-using-the-command-line){target=_blank}
+
+!!! tip
+
+    If you cannot resolve a merge conflict on your own, reach out to your lead for help!
diff --git a/docs/reference/github/workflow/issues.md b/docs/reference/github/workflow/issues.md
new file mode 100644
index 000000000..8b9997e22
--- /dev/null
+++ b/docs/reference/github/workflow/issues.md
@@ -0,0 +1,102 @@
+# Creating Issues
+
+GitHub issues lets us plan and track our work on GitHub.
+
+## Getting started with issue templates
+
+An issue is associated with a specific repository. To open the issues page for a given repository, click on
+the issues tab in the repository navigation bar.
+
+![image](../../../assets/images/github/workflow/issue_tab.png)
+
+You will see a list of current issues (if any) for the repository. To create a new issue, click on the
+`New issue` button in the upper right corner.
+
+![image](../../../assets/images/github/workflow/issue_list.png)
+
+When creating a new issue, you will see a few issue templates. Since issues can be created for a variety of reasons,
+issues may therefore be structured differently and contain different kinds of information. Issue templates were
+introduced to give us a quick and structured way to writing issues.
+
+![image](../../../assets/images/github/workflow/issue_template_list.png)
+
+!!! note
+
+    GitHub issues are written using GitHub-flavoured markdown. To add a little spice to your issues, refer
+    to the official [GitHub documentation](https://docs.github.com/en/get-started/writing-on-github){target=_blank} 
+    for some quick tips and tricks on how to write awesome markdown!
+
+Click on the `Get started` button to open the issue template. For this example, let's go with the `New Feature`
+issue template. Upon opening the issue template, you should see a page like the one below:
+
+![image](../../../assets/images/github/workflow/new_feature_template.png)
+
+At this point, you should give a succinct title and describe the issue in the textbox. You will also see some templated
+sections to fill out. Try to give only the necessary details to make a clear and concise issue. If you are unsure on how
+to construct your issue, take a look at current or past issues and ask the software leads for further guidance if necessary.
+
+Finally, feel free to [make suggestions](https://github.com/UBCSailbot/.github/issues/templates/edit){target=_blank}
+on new templates or changing current templates!
+
+!!! tip
+
+    We understand that some issues may need extra sections to describe the issue further, or some of
+    the templated sections might not be relevant at all! Add or remove sections as necessary to get your
+    point across. The goal of the issue templates is to provide guidance, not police your documentation
+    methodologies!
+
+## Adding issues to a project
+
+We use projects to plan and track the status of our issues and pull requests.
+To add an issue to an existing project, click on the gear icon in the `Projects` section and add it to your desired
+project. You will almost always want to add your issue to the Software organization project.
+
+![image](../../../assets/images/github/workflow/gh_project.png)
+
+To verify that your issue has been added to your desired project, go to the UBC Sailbot organization, go
+to the `Projects` tab on the organization banner, and select the project that it is added to. When added
+to a project, it should show up under the `General` tab (depending on the project, this might not always
+be the case).
+
+## Adding issues to a milestone
+
+We use milestones to track progress on groups of issues or pull requests that we want to complete by a certain date.
+Since our projects span over many years, it is important to work incrementally with small,
+yet achievable goals. If your issue should belong to a milestone, simply add it to a milestone by clicking
+on the gear icon in the `Milestone` section and add it to your desired milestone.
+
+![image](../../../assets/images/github/workflow/gh_milestone.png)
+
+!!! note
+
+    Unlike projects, milestones are strictly associated with a repository.
+
+## Labelling issues
+
+GitHub allows us to label our issues so that we can categorize them. It helps us identify at first glance what
+kind of a problem that an issue aims to solve and which issues are more important. To add a label to your issue,
+click on the gear icon in the `Labels` section and add your desired label(s).
+
+![image](../../../assets/images/github/workflow/gh_labels.png)
+
+The issue templates will already have labels assigned to them, but you should add or remove labels as you see fit
+to make them as relevant as possible.
+
+!!! note
+
+    Each repository might have different labels available, so be sure to check out all of the labels
+    at least once in the repository that you are working in. Feel free to suggest additional labels
+    as well!
+
+## Adding assignees
+
+Every issue should be assigned to at least one person to work on it. If you are not sure who should be assigned
+the issue initially, then don't worry about it for now since you can assign someone to the issue later on. To
+assign someone an issue, click on the gear icon in the `Assignees` section and add the desired people.
+
+![image](../../../assets/images/github/workflow/gh_assignee.png)
+
+## Submit the issue
+
+Once you are finished writing your issue, click on the `Submit new issue` button. You should now see your issue
+in the issues list and in the UBC Sailbot software project.
diff --git a/docs/reference/github/workflow/overview.md b/docs/reference/github/workflow/overview.md
new file mode 100644
index 000000000..1f9c518eb
--- /dev/null
+++ b/docs/reference/github/workflow/overview.md
@@ -0,0 +1,43 @@
+# Development Workflow Overview
+
+``` mermaid
+graph LR
+    B[Problem Conception] --> C{Small Fix?};
+    C --> |Yes| E[Development];
+    C --> |No| D[Issue Creation];
+    D --> E;
+    E --> F[Pull Request];
+    F --> G{Approved?};
+    G --> |No| E;
+    G --> |Yes| H[Merge PR into Main];
+```
+
+A good development workflow is essential to maintain a robust codebase and stay organized. The above
+diagram is a high level overview of how our development process works, and parts of this process
+are explained in subsequent sections.
+
+## Version control: Git
+
+We use git to help us keep track of the version history of our codebase. Git is a free and open source
+distributed version control system, and it is commonly used by many developers to keep track of changes
+to their code over time. As a member of the software team on UBC Sailbot, it is absolutely necessary that
+you know git. If you are unfamiliar with git, here are a few resources to help you get started:
+
+| Resource                                               | Description                                            |
+| :----------------------------------------------------- | :----------------------------------------------------- |
+| [Beginners Tutorial](https://youtu.be/HVsySz-h9r4){target=_blank}     | A 30 minute video on git for beginners. Good if you want to learn git quickly and nail all the fundamentals.    |
+| [Pro Git book](https://git-scm.com/book/en/v2){target=_blank}         | A textbook on using git. Good if you are a completionist and want to deep dive into how git works (and if you have some time on your hands).    |
+| [Common Git Commands](https://patrick-5546.github.io/notes/reference/git/git_commands/){target=_blank} | A condensed summary of some common git commands. Good to refer to once you are familiar with the fundamentals of git. |
+
+## Remote server: GitHub
+
+We use GitHub as our remote server where we store our codebase. In addition to using it for storage, we also
+leverage many of GitHub's features to make for a smoother development process. Some examples of features
+that we use are:
+
+- [Issues](./issues.md#creating-issues)
+- [Projects](./issues.md#adding-issues-to-a-project)
+- [Milestones](./issues.md#adding-issues-to-a-milestone)
+- GitHub Organizations
+- Repository Permissions and Branch Protection Rules
+- And more!
diff --git a/docs/reference/github/workflow/pr.md b/docs/reference/github/workflow/pr.md
new file mode 100644
index 000000000..f0740bd91
--- /dev/null
+++ b/docs/reference/github/workflow/pr.md
@@ -0,0 +1,84 @@
+# Pull Requests
+
+Pull requests are used to verify code functionality and quality of a development branch before merging into the main branch,
+accomplished through CI and code reviews.
+
+!!! note
+
+    Pull requests are much like issues where we can do many of the same things. This goes for creating
+    comments in markdown, assigning reviewers, adding labels, adding projects, or adding milestones.
+    Sometimes we skip writing an issue when the change is relatively small.
+
+## Creating a pull request
+
+To create a pull request in a repository, to go the `Pull requests` tab and then click `New pull request`:
+
+![image](../../../assets/images/github/workflow/create_pr.png)
+
+On the next screen, you need to select the base branch that you are merging into, and the branch that you
+are comparing. For the most part, the base branch will be the main branch, and the branch that you are comparing
+will be the issue branch.
+
+![image](../../../assets/images/github/workflow/branch_comparison.png)
+
+Once you have decided on your base and compare branches, click on `Create pull request`. You should see
+the page below (looking in the dropdown menu, you can open the pull request as a draft to avoid notifying
+reviewers until you are ready):
+
+![image](../../../assets/images/github/workflow/pr_example.png)
+
+Notice how this is remarkably similar to the page of an issue. To link a pull request to an issue, simply add
+`<KEYWORD> #<ISSUE NUMBER>` to the initial comment in the pull request. A list of valid keywords can be found
+[here](https://docs.github.com/en/issues/tracking-your-work-with-issues/linking-a-pull-request-to-an-issue){target=_blank}.
+
+!!! example
+
+    "This issue resolves #49. Please review my pull request!"
+
+Observe that the right-hand side banner contains the following:
+
+| Field               | Description                                                                                    |
+| :------------------ | :----------------------------------------------------------------------------------------------|
+| Reviewers           | Assign reviewers to review your pull request. Always try to assign at least one reviewer.      |
+| Assignees           | Assign the people who worked on the issue.                                                     |
+| Labels              | Assign labels to categorize pull requests.                                                     |
+| Projects            | Assign a pull request to a project.                                                            |
+| Milestone           | Assign a pull request to a milestone.                                                          |
+
+!!! attention
+
+    If you linked the pull request to an issue, you **should not** add the pull request to a project or a milestone to
+    avoid duplicate cards.
+
+## Merging into main
+
+Once the pull request and code reviews are complete, it is time to merge the changes in the pull request into the main
+branch! However, this can only be done when the following conditions are met:
+
+1. All CI checks pass (look for a green checkmark beside your latest commit on GitHub).
+2. All reviewers have reviewed the PR and approved the PR.
+3. There are no unresolved comments and suggestions from the reviewers.
+4. There are no merge conflicts with the main branch.
+
+If all of these conditions are met, confirm that the merge is good to go by clicking `Squash and merge`:
+
+![image](../../../assets/images/github/workflow/pr_merge.png)
+
+## Reviewing a pull request
+
+A common activity that you will participate in is reviewing pull requests to give your feedback on other's code.
+You will be notified when you have been requested to review a pull request and should promptly review it as
+soon as time permits.
+
+![image](../../../assets/images/github/workflow/pr_comment_snippet.png)
+
+In particular, you will most likely be doing the following in a pull request:
+
+- **Asking Questions:** Clarify your understanding about something that you are not sure about.
+- **Providing Suggestions:** Give some ideas about how to improve the current implementation and provide feedback to
+your peers. This is a good opportunity to share your knowledge with others.
+- **Verify Implementations:** Identify potential bugs in the implementation and raise your concerns with the person
+who developed the solution. This will reduce the likelihood of bugs and significantly bring down the number of issues
+in the future.
+- **Documentation:** Record why certain changes were made, especially if this diverges from the proposed solution
+in the linked issue (if any).
diff --git a/docs/reference/markdown.md b/docs/reference/markdown.md
new file mode 100644
index 000000000..2781dcbe7
--- /dev/null
+++ b/docs/reference/markdown.md
@@ -0,0 +1,107 @@
+# Markdown
+
+Markdown is a lightweight markup language that you can use to add formatting elements to plaintext text documents.[^1]
+You can do anything with Markdown, from creating websites to PDF documents, all in a clean format that is easy to
+learn. [Many of your favorite services use Markdown](https://www.markdownguide.org/tools/){target=_blank}, so it would
+be useful to pick it up to write technical documentation.
+
+Markdown is not standardized across services. Many services that support Markdown have their
+own "flavour" of Markdown. Be sure to know the Markdown features of the service
+you are using so that your Markdown renders properly.
+
+## Getting Started
+
+We recommend [markdownguide.org](https://www.markdownguide.org/){target=_blank} to be your first point of reference if\
+you are learning Markdown for the first time. It covers topics like what Markdown is, its syntax, advanced tips, and the
+different services that support Markdown. Flavours of Markdown specific to a service build on top of these basics.
+
+## Sailbot and Markdown
+
+We write Markdown for GitHub and Material for MkDocs. The following sections
+detail how Markdown is used in these services.
+
+### GitHub
+
+We use Markdown in GitHub for technical documentation and collaboration. This includes:
+
+- `README.md` files
+- Issues
+- Pull Requests
+
+Almost all places where text is written in GitHub support Markdown. GitHub also allows you to preview
+your Markdown before you submit any comments.
+
+=== "Before Rendering"
+
+    ![image](../assets/images/markdown/issue_md_text.png)
+
+=== "After Rendering"
+
+    ![image](../assets/images/markdown/issue_md_rendered.png)
+
+The image above shows an example of a "write" and a "preview" tab for writing a comment on an issue. It might look
+different depending on where you are writing, but there usually exists a preview option!
+
+!!! note "GitHub-Flavoured Markdown"
+
+    GitHub uses its own "flavour" of Markdown. Certain features, like using HTML, are excluded for security reasons.
+    Visit the [official GitHub Markdown guide](https://docs.github.com/en/get-started/writing-on-github){target=_blank}
+    for more information on the available features.
+
+### Material for MkDocs
+
+We use Markdown in Material for MkDocs to create this website! Since it is written in Markdown, no frontend
+experience is required to contribute to our docs.
+
+Material for MkDocs supports powerful features purpose-built to take technical documentation to the next level.
+Feel free to browse this site to see how we use these features, exploring their syntax in the
+[source code](https://github.com/UBCSailbot/docs/tree/main/docs){target=_blank}. Since GitHub renders Markdown files automatically
+you will need to click the "Raw" button to view their contents.
+
+!!! note "Material-Flavoured Markdown"
+
+    Material for MkDocs' flavour of Markdown extends upon vanilla Markdown, adding features such as admonitions 
+    (like this note) and content tabs. Refer to the
+    [official Material for MkDocs reference page](https://squidfunk.github.io/mkdocs-material/reference/){target=_blank}
+    for more information on the available features.
+
+## Rendering Markdown
+
+You have a few choices to render Markdown on your computer.
+Be advised that if you are using an extended version of Markdown, you will
+need to consult the documentation from the service provider to render their flavour of Markdown properly. The following
+resources are good for rendering Markdown:
+
+=== ":simple-markdown: Vanilla"
+    - [VS Code](https://code.visualstudio.com/docs/languages/markdown#_markdown-preview){target=_blank}: Markdown
+    rendering is supported
+    out of the box.
+    - [Markdown Live Preview](https://markdownlivepreview.com/){target=_blank}: An online rendering tool.
+
+=== ":simple-github: Github"
+    - [Markdown Preview GitHub Styling](https://marketplace.visualstudio.com/items?itemName=bierner.markdown-preview-github-styles){target=_blank}:
+    VS Code extension that renders GitHub-flavoured markdown.
+    - Create a draft issue on GitHub and preview the markdown to see how it renders.
+
+=== ":logo: Material for MkDocs"
+    - UBC Sailbot Docs: To preview your changes when working on this site,
+    refer to the [run instructions in the `README.md`](https://github.com/UBCSailbot/docs#run){target=_blank}.
+    - Material for MkDocs sites in general: If you ever decide to write your own documentation using Material for MkDocs,
+    refer to the [official "Getting Started" guide](https://squidfunk.github.io/mkdocs-material/getting-started/){target=_blank}.
+
+Other resources exist to render Markdown like browser extensions that render Markdown as HTML and GitHub repositories
+that contain source code to render your Markdown. Feel free
+to browse around for the solution that suits your needs.
+
+## Linting
+
+We lint our Markdown files to reduce errors and increase readability. In particular, we use two tools:
+
+1. [markdownlint](https://github.com/DavidAnson/markdownlint){target=_blank} is
+used to enforce a style guide. Its configuration file for this repository is [`.markdownlint.json`](https://github.com/UBCSailbot/docs/blob/main/.markdownlint.json){target=_blank}.
+If you use VS Code, there is a [markdownlint extension](https://marketplace.visualstudio.com/items?itemName=DavidAnson.vscode-markdownlint){target=_blank}.
+
+2. [markdown-link-check](https://github.com/tcort/markdown-link-check){target=_blank} is
+used to check for broken links. Its configuration file for this repository is [`.markdown-link-check.json`](https://github.com/UBCSailbot/docs/blob/main/.markdown-link-check.json){target=_blank}.
+
+[^1]: <https://www.markdownguide.org/getting-started/>
diff --git a/docs/reference/python/conventions.md b/docs/reference/python/conventions.md
new file mode 100644
index 000000000..18abcc41d
--- /dev/null
+++ b/docs/reference/python/conventions.md
@@ -0,0 +1,246 @@
+# Conventions
+
+At UBC Sailbot, we follow standards in how we code to maintain a clean and comprehensible codebase.
+This page addresses what conventions we use specifically when programming in Python and the tools to help us maintain
+these conventions.
+
+## Style guide
+
+### Linting
+
+To ensure that the codebase stays clean, we use [flake8](https://flake8.pycqa.org/en/5.0.4/#){target=_blank}, which is a
+tool for style guide enforcement mostly based off [pep8](https://peps.python.org/pep-0008/){target=_blank}. To automate
+most of this process, we use [autopep8](https://github.com/hhatto/autopep8){target=_blank}, which is a tool that resolves
+most style issues. However, there will be some issues that must be resolved by you!
+
+Refer to this [guide](https://realpython.com/python-pep8/){target=_blank} on how to write readable code in python with the
+pep8 style guide.
+
+!!! note
+
+    Our CI automatically checks that your code follows the pep8 standard. If it does not, your pull requests will
+    be blocked from being merged until those issues are resolved!
+
+### Type hinting
+
+Even though Python is a dynamically typed language, newer versions support type hinting. Type hinting catches
+errors, documents code, improves IDEs and linters, and helps build and maintain a clean software architecture.[^1]
+Expanding on how it catches errors, a static type checker such as [`mypy`](https://mypy.readthedocs.io/en/stable/index.html){target=_blank}
+can be used.
+
+There is some syntax to get familiar in order to use type checking. We recommend the following resources:
+
+- [mypy Typing Cheatsheet](https://mypy.readthedocs.io/en/stable/cheat_sheet_py3.html){target=_blank}
+- [PEP 483: The Theory of Type Hints (A Simplified Guide)](https://peps.python.org/pep-0483/){target=_blank}
+- [PEP 484: Type Hints (Fully Comprehensive Guide)](https://peps.python.org/pep-0484/){target=_blank}
+
+Below are a few examples of using type hinting:
+
+???+ example "Return the sum of a sequence"
+
+    ```python
+    from typing import Sequence, Union
+
+
+    Number = Union[int, float]
+
+
+    def sumseq(seq : Sequence[Number]) -> Number:
+        return sum(seq)
+    ```
+
+???+ example "Function with optional parameters and default values"
+
+    ```python
+    from typing import Optional
+
+
+    def printArgs(a : str, b : str="World", c : Optional[str]=None) -> None:
+        print(f"Value of a: {a}")
+        print(f"Value of b: {b}")
+        if c is not None:
+            print(f"Value of c: {c}")
+    ```
+
+??? example "Function with custom class"
+
+    ```python
+    class MyClass:
+        def __init__(self) -> None:
+            pass
+
+
+    def foo(a : MyClass) -> None:
+        print(a)
+    ```
+
+??? example "Forward referencing a class"
+
+    === "With `__future__`"
+
+        ```python
+        from __future__ import annotations
+
+
+        def foo(a : MyClass) -> None:
+            print(a)
+
+
+        class MyClass:
+            def __init__(self) -> None:
+                pass
+        ```
+
+    === "Without `__future__`"
+
+        ```python
+        def foo(a : 'MyClass') -> None:
+            print(a)
+
+
+        class MyClass:
+            def __init__(self) -> None:
+                pass
+        ```
+
+??? example "Function that never returns"
+
+    ```python
+    from typing import NoReturn
+
+
+    def bar() -> NoReturn:
+        while True:
+            print("Hello World!")
+    ```
+
+## Documentation
+
+Code is written once and read a thousand times, so it is important to provide good documentation for current
+and future members of the software team. The major things that we document in our code are:
+
+1. **Classes and Objects:**
+    - What does it represent? What is it used for?
+    - What are its member variables? What are they used for?
+2. **Functions:**
+    - What are the inputs and outputs?
+    - What is the overall behavior and purpose of the function?
+3. **Code:**
+    - Is a line of code obscure and/or not clear? Add an inline comment to clear things up.
+    - Break down a large process.
+
+Ideally, the third point should be avoided as much as possible since we would want our code to be
+self explanatory. It should be done only when absolutely necessary.
+
+### Generating docstrings
+
+We use a vscode extension called [autoDocstring](https://marketplace.visualstudio.com/items?itemName=njpwerner.autodocstring){target=_blank}
+which autogenerates docstrings that we use to document our code. To install this extension, go to the `Extensions` tab in
+vscode and search `autoDocstring` in the marketplace.
+
+To generate docstrings, type `"""` at the beginning of the function that you want to document and the template
+will be generated for you! If you use [type hinting](#type-hinting), this extention will autofill some of the
+documentation for you!
+
+!!! note
+
+    The autoDocstring extension only works for functions. It does not work for classes and objects, so documenting these
+    will have to be done manually. Be sure to follow the same format used by functions.
+
+### Example on documentation
+
+It's hard to imagine what good documentation looks like. We provide a few examples below of documenting code using the
+autoDocstring extension. The extension uses [Google style docstrings](https://google.github.io/styleguide/pyguide.html#38-comments-and-docstrings){target=_blank}
+by default.
+
+???+ example "Documentation example on a function"
+
+    ```python
+    from typing import List
+    def inner_product(v1 : List[float], v2 : List[float]) -> float:
+        """
+        Computes the inner product between two 1D real vectors. Input vectors should have the
+        same dimensions.
+
+        Args:
+            v1 (List[float]): The first vector of real numbers.
+            v2 (List[float]): The second vector of real numbers.
+
+        Returns:
+            float : The inner product between v1 and v2
+        """
+        assert (len(v1) == len(v2)), "Input lists must have same length"
+
+        # Iterate through elementwise pairs
+        summation = 0
+        for e1, e2 in zip(v1, v2):
+            summation += (e1 * e2)
+        return float(summation)
+    ```
+
+??? example "Documentation example with a stack"
+
+    ```python
+    from typing import Any
+    class Stack:
+
+        """
+        This class represents a stack, which is an abstract data type that serves as a collection of
+        elements. The stack is a LIFO datastructure defined by two main operations: Push and Pop.
+
+        Attributes:
+            __stack (List[Any]): A list containing the elements on the stack.
+        """
+
+        def __init__(self):
+            """
+            Initializes the Stack object.
+            """
+            self.__stack = []
+
+        def push(self, element : Any) -> Any:
+            """
+            Pushes an element to the top of the stack.
+
+            Args:
+                element (Any): The element to be pushed on to the stack.
+            """
+            self.__stack.append(element)
+
+        def pop(self) -> Any:
+            """
+            Removes the element at the top of the stack and returns it. If the stack is empty,
+            then None is returned.
+
+            Returns:
+                Any, NoneType: The element at the top of the stack.
+            """
+            if self.is_empty():
+                return None
+            else:
+                return self.__stack.pop()
+
+        def is_empty(self) -> bool:
+            """
+            Determines whether the stack is empty or not.
+
+            Returns:
+                bool: Returns True if the stack is empty, and False otherwise.
+            """
+            empty = (len(self.__stack) == 0)
+            return empty
+
+        def __len__(self) -> int:
+            """
+            Gets the number of elements on the stack.
+
+            Returns:
+                int: The number of elements on the stack.
+            """
+            length = len(self.__stack)
+            return length
+    ```
+
+For more examples, see [Example Google Style Python Docstrings](https://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html){target=_blank}.
+
+[^1]: <https://realpython.com/lessons/pros-and-cons-type-hints/>
diff --git a/docs/reference/python/start.md b/docs/reference/python/start.md
new file mode 100644
index 000000000..100336fcd
--- /dev/null
+++ b/docs/reference/python/start.md
@@ -0,0 +1,21 @@
+# Getting Started
+
+We use Python 3 to write the majority of our software at UBC Sailbot. Pathfinding and Controls mainly use Python 3,
+so it is critical that you are familiar with the language if you are on one of these sub-teams.
+
+## Python tutorials
+
+We understand that not everyone who joins Sailbot has Python in their toolkit, nor do we expect it either! Whether you
+are learning Python for the first time or you just want to brush up, we have provided some resources below. You may not
+learn absolutely everything from the resources below, but it is a good starting point. You will mostly learn through doing,
+as you would with most technical skills!
+
+| Resource               | Description                                                                                 |
+| :--------------------- | :------------------------------------------------------------------------------------------ |
+| [The Python Tutorial](https://docs.python.org/3/tutorial/){target=_blank} | The official python tutorial. Good if you have some time on your hands and you are a completionist. Sections 1 - 5 and 9 are the most relevant. |
+| [w3schools Tutorial](https://www.w3schools.com/python/default.asp){target=_blank} | Good if you want a more brief introduction to Python. It breaks down a lot of concepts into sections. Everything up to Python Classes/Objects is relevant. |
+| [YouTube Tutorial](https://youtu.be/t8pPdKYpowI){target=_blank} | If you like video tutorials, then we recommend this tutorial. This video is about 5 hours long, but it pretty much covers everything that you'll need to know for Python and there are some hands on  projects. |
+| [Shorter YouTube Tutorial](https://youtu.be/kqtD5dpn9C8){target=_blank} | A shorter alternative YouTube tutorial condensed into 1 hour. It covers less material but still covers many of the essentials. |
+| [CodingBat Practice](https://codingbat.com/python){target=_blank} | Good resource to put your Python skills to practice on some simple coding problems. Note that this resource does not teach you python. |
+
+Feel free to add other resources other than the ones listed above if you find any that you like!
diff --git a/docs/reference/python/virtual-environments.md b/docs/reference/python/virtual-environments.md
new file mode 100644
index 000000000..7019c3a98
--- /dev/null
+++ b/docs/reference/python/virtual-environments.md
@@ -0,0 +1,270 @@
+# Virtual Environments
+
+The Python virtual environment is a tool for dependency management and project isolation. They solve many
+common issues, including:
+
+- **Dependency Resolution:** A project might want a package with version A while another project might want
+a package with version B. With a virtual environment, you can separate which packages that you want to use
+for a given project.
+
+- **Project Isolation:** The environment for your project is self-contained and reproducible by capturing all
+dependencies in a configuration file.
+
+- **Housekeeping:** Virtual environments allow you to keep your global workspace tidy.
+
+There are two main methods of creating virtual environments: [virtualenv](https://pypi.org/project/virtualenv/){target=_blank}
+and [Anaconda](https://www.anaconda.com/){target=_blank}. Each have their own benefits and drawbacks. Here are some differences
+between the two:
+
+| Virtualenv                                        | Anaconda                                                 |
+| :------------------------------------------------ | :------------------------------------------------------- |
+| Environment files are local.                      | Environment files are available globally.                |
+| Must activate environment by giving the path.     | Can activate the environment without knowing the path, but only the name. |
+| Can only use `pip` to install packages.           | Can either use `pip` or built-in `conda` package manager.|
+| Installation is very simple.                      | Installation takes more effort.                          |
+| Can only install python packages.                 | In addition to packages, you can download many data science tools.|
+
+We recommend **virtualenv** over Anaconda because of its simplicity. However, feel free to appeal to your preferences.
+
+## Installation
+
+=== ":material-language-python: Virtualenv"
+
+    If you already have python and the pip package manager installed, just execute the following:
+
+    ```bash title="Using pip to install virtualenv"
+    pip install virtualenv
+    ```
+
+=== ":simple-anaconda: Anaconda"
+
+    Go to the official [Anaconda website](https://www.anaconda.com/){target=_blank} and follow the installation
+    instructions for your operating system.
+
+## Using virtual environments
+
+The name of a virtual environment is configurable. For the purposes of this site, we will use `env` as the environment
+name unless specified otherwise.
+
+### Creating a virtual environment
+
+=== ":material-language-python: Virtualenv"
+
+    Since virtualenv creates the environment directory in a specific location, make sure that you
+    are in the located in the project that you want to work on.
+
+    ```bash title="Create virtual environment with virtualenv"
+    # Go to desired location
+    cd <PATH TO DIRECTORY>
+
+    # Create the environment with the name env
+    python3 -m venv env
+    ```
+
+    Verify that your environment is created by examining your current directory and look for the directory
+    that matches the name of your virtual environment.
+
+=== ":simple-anaconda: Anaconda"
+
+    Since the environment will be available globally, there is no need to go to a specific location to create
+    it.
+
+    ``` bash title="Create virtual environment with Anaconda"
+    # Create environment with name env and python version
+    conda env create -n env python=<PYTHON VERSION NUM>
+    ```
+
+    If you don't specify a python version, the default is the version you used when you downloaded and installed Anaconda.
+    Verify that your environment is created by executing `conda env list`.
+
+### Activating the virtual environment
+
+To use the virtual environment, you must activate it.
+
+=== ":material-language-python: Virtualenv"
+
+    === ":material-microsoft-windows: Windows"
+
+        ```batch title="Activation for Windows"
+        env\Scripts\activate
+        ```
+
+    === ":material-apple: macOS"
+
+        ```bash title="Activation for macOS"
+        source env/bin/activate
+        ```
+    === ":material-linux: Linux"
+
+        ```bash title="Activation for Linux"
+        source env/bin/activate
+        ```
+
+=== ":simple-anaconda: Anaconda"
+
+    ```bash title="Activation for Anaconda"
+    conda activate env
+    ```
+
+After activating your virtual environment, you might see `(env)` on your terminal before or after
+your current line. Now you are in your virtual environment!
+
+### Installing dependencies
+
+Any dependencies that you install while your virtual environment is activated are only available in your virtual
+environment. If you deactivate your environment and try to use those dependencies, you will find that you will get
+errors because they will not be found unless you install those dependencies in the other environment!
+
+=== ":material-language-python: Virtualenv"
+
+    Use the `pip` package manager to install python dependencies. Before installing any Python dependencies, it is good
+    practice to upgrade `pip`:
+
+    ```bash title="Upgrade pip"
+    pip install --upgrade pip
+    ```
+
+    Now, install any Python dependencies `pip`:
+
+    ```bash title="Install dependency with pip"
+    pip install <PACKAGE>
+    ```
+
+=== ":simple-anaconda: Anaconda"
+
+    === "Option 1: pip"
+
+        Use the `pip` package manager to install python dependencies.
+
+        ```bash title="Install dependency with pip"
+        # Install pip using conda
+        conda install pip
+
+        # Install python packages using pip
+        pip install <PACKAGE>
+        ```
+
+    === "Option 2: conda"
+
+        Use the built-in `conda` package manager to install python dependencies.
+
+        ```bash title="Install dependency with conda"
+        conda install -c <CHANNEL> <PACKAGE>
+        ```
+
+        Sometimes, installing a package like this simply won't work because you are not installing
+        from the correct [channel](https://conda.io/projects/conda/en/latest/user-guide/concepts/channels.html){target=_blank}.
+        You usually will have to google the command to use in order to install your package correctly because
+        it usually comes from a specific channel that you don't know about. Some common channels to try are:
+
+        - conda-forge
+        - anaconda
+        - bioconda
+        - r
+
+### Deactivating the virtual environment
+
+When you are finished using your virtual environment, you will need to deactivate it.
+
+=== ":material-language-python: Virtualenv"
+
+    ```bash title="Deactivate virtualenv environment"
+    deactivate
+    ```
+
+=== ":simple-anaconda: Anaconda"
+
+    ```bash title="Deactivate anaconda environment"
+    conda deactivate
+    ```
+
+## Reproducing your virtual environment
+
+When you want to share your code with others, it is important for others to be able to reproduce the environment
+that you worked in. We discuss two topics in this section: exporting your environment and reproducing the environment.
+
+### Exporting your virtual environment
+
+In order to reproduce your virtual environment, you need to export some information about your environment.
+Be sure to follow the instructions below **while your environment is activated**.
+
+=== ":material-language-python: Virtualenv"
+
+    You will create a `requirements.txt` file, which essentially lists all of your python dependencies in one
+    file:
+
+    ```bash title="Creating requirements file"
+    pip freeze > requirements.txt
+    ```
+
+    The `pip freeze` command prints all of your pip dependencies, and `> requirements.txt` redirects the output
+    to a text file.
+
+=== ":simple-anaconda: Anaconda"
+
+    Anaconda uses configuration files to recreate an environment.
+
+    === ":material-microsoft-windows: Windows"
+
+        Execute the following command to create a file called `environment.yml`:
+        
+        ```batch title="Create config file"
+        conda env export > environment.yml
+        ```
+
+        Then, open the `environment.yml` file and delete the line with `prefix:`.
+
+    === ":material-apple: macOS"
+
+        Execute the following command to create a file called `environment.yml`:
+
+        ```bash title="Create config file"
+        conda env export | grep -v "^prefix: " > environment.yml
+        ```
+    
+    === ":material-linux: Linux"
+
+        Execute the following command to create a file called `environment.yml`:
+
+        ```bash title="Create config file"
+        conda env export | grep -v "^prefix: " > environment.yml
+        ```
+
+### Reproducing the environment
+
+You can reproduce your virtual environment when given the information about it. The steps above tell you how
+to extract the information, and now we will use that information to recreate the virtual environment.
+Remember to **deactivate the current environment** before making a new environment.
+
+=== ":material-language-python: Virtualenv"
+
+    We use the `requirements.txt` file that we generated earlier to recreate the environment.
+
+    ```bash title="Recreate virtualenv environment"
+    # Create the new environment
+    python -m venv <NEW ENV NAME>
+    
+    # Activate the environment
+    source <NEW ENV NAME>/bin/activate
+
+    # Install dependencies
+    pip install -r <PATH TO requirements.txt file>
+    ```
+
+=== ":simple-anaconda: Anaconda"
+
+    We use the `environment.yml` file that we generated earlier to recreate the environment.
+
+    ```bash title="Recreate the conda environment"
+    # Create the new environment with the dependencies
+    conda env create -f <PATH TO environment.yml> -n <ENV NAME>
+    ```
+
+## Official references
+
+In this section, we summarized what virtual environments are, why they are used, and how to use them. We did not
+cover all of the functions of virtual environments, but feel free to consult the official references to learn
+about virtual environments more in depth.
+
+- [Virtualenv Reference](https://docs.python.org/3/library/venv.html#module-venv){target=_blank}
+- [Anaconda Reference](https://conda.io/projects/conda/en/latest/user-guide/concepts/environments.html#){target=_blank}
diff --git a/docs/reference/ros.md b/docs/reference/ros.md
new file mode 100644
index 000000000..139ecaee3
--- /dev/null
+++ b/docs/reference/ros.md
@@ -0,0 +1,94 @@
+# Robot Operating System
+
+Robot Operating System (ROS) is a set of software libraries and tools for building robot applications.[^1]
+It provides functionality for hardware abstraction, device drivers, communication between processes over
+multiple machines, tools for testing and visualization, and much more.[^2]
+
+We use ROS because it is open-source, language-agnostic, and built with cross-collaboration in mind.
+It enables our sub-teams to work independently on well-defined components of our software system
+without having to worry about the hardware it runs on or the implementation of other components.
+
+[The official ROS 2 documentation](https://docs.ros.org/en/humble/index.html){target=_blank} contains everything you need
+to get started using ROS. From it we have hand-picked the resources that are most relevant to our current and expected
+future usage of ROS assuming that you use [our preconfigured workspace](https://github.com/UBCSailbot/sailbot_workspace){target=_blank}.
+To run our software on your device without our workspace, you would have to [install ROS](https://docs.ros.org/en/humble/Installation.html){target=_blank}
+and the dependencies that are in [our Docker images](https://github.com/UBCSailbot/sailbot_workspace/tree/main/.devcontainer){target=_blank}
+yourself.
+
+## Workspace Configuration
+
+To get our workspace configuration running on your computer:
+
+1. Set it up by following the [setup instructions](../current/sailbot_workspace/setup.md)
+2. Uncomment the ROS 2 tutorials section in [`.devcontainer/Dockerfile`](https://github.com/UBCSailbot/sailbot_workspace/blob/main/.devcontainer/Dockerfile){target=_blank},
+   then run the "Dev Containers: Rebuild Container" VS Code command, to install the tutorials' dependencies
+3. Uncomment the ROS 2 tutorials section in [`src/polaris.repos`](https://github.com/UBCSailbot/sailbot_workspace/blob/main/src/polaris.repos){target=_blank},
+   then run the "setup" VS Code task, to clone the repositories used in the tutorials
+
+Our workspace configuration contains easier methods of accomplishing some of the tutorial steps, or eliminates the need
+for them altogether.
+
+| Tutorial step                       | Sailbot Workspace configuration                                         |
+| ----------------------------------- | ----------------------------------------------------------------------- |
+| Install a package                   | All packages used in the tutorials are already installed (step 2 above) |
+| Clone a sample repo (ros_tutorials) | ros_tutorials is already cloned (step 3 above)                          |
+| Resolve dependencies                | Run the "install dependencies" VS Code task                             |
+| Build the workspace                 | Run the "Build" VS Code task, AKA ++ctrl+shift+b++                      |
+| Source the overlay                  | Run the `srcnew` terminal command                                       |
+| Create a package with a node        | Run the "new ament_(python\|cmake) package with a node" VS Code task    |
+
+## Tutorials
+
+We encourage all software members to work through the [ROS tutorials](https://docs.ros.org/en/humble/Tutorials.html){target=_blank}
+that are listed below in order. For tutorials that have both C++ and Python versions,
+NET members should do the C++ version while CTRL and PATH members should do the Python version.
+
+- Beginner: CLI tools
+    - Introducing `turtlesim` and `rqt`
+    - Understanding nodes
+    - Understanding topics
+    - Understanding services
+    - Understanding parameters
+    - Understanding actions
+    - Using `rqt_console` to view logs
+    - Recording and playing back data
+- Beginner: Client libraries
+    - Creating a workspace
+    - Creating a package
+    - Writing a simple publisher and subscriber (C++ or Python)
+    - Writing a simple service and client (C++ or Python)
+    - Using parameters in a class (C++ or Python)
+    - Using `ros2doctor` to identify issues
+- Intermediate
+    - Launch
+    - Testing
+- Demos
+    - Logging
+
+## Concepts
+
+We encourage all software members to read the following documentation on key [ROS concepts](https://docs.ros.org/en/humble/Concepts.html){target=_blank}:
+
+- About logging and logger configuration
+- About ROS 2 interfaces
+- About parameters in ROS 2
+
+## ROS 1 Bridge
+
+There are two major versions of ROS, aptly named ROS 1 and ROS 2. Our previous project, Raye,
+uses ROS 1 because it was the only version available during her design process. Our new project will
+use ROS 2, a complete re-design of the framework that tackles the shortcomings of ROS 1 to bring it up
+to industry needs and standards.[^3] If you are curious about the changes made in ROS 2 compared to 1,
+[this article](http://design.ros2.org/articles/changes.html){target=_blank} is a worthwhile read.
+
+ROS 2 includes the ROS 1 Bridge, a collection of packages that can be installed alongside ROS 1 to help migrate code
+from ROS 1 to ROS 2. As we will be reusing parts of Raye's codebase, it is essential to know how to use these packages.
+Until we are completely done with Raye, our preconfigured workspace will have ROS 1, ROS 1 Bridge, and ROS 2 installed.
+
+We encourage all software members work through the [ROS 1 Bridge README](https://github.com/ros2/ros1_bridge/blob/master/README.md){target=_blank}.
+For PATH members, the [Migrating launch files from ROS 1 to ROS 2 page](https://docs.ros.org/en/humble/Tutorials/Launch-files-migration-guide.html){target=_blank}
+will be a helpful reference when we do so.
+
+[^1]: <https://docs.ros.org/en/humble/index.html>
+[^2]: <https://www.toptal.com/robotics/introduction-to-robot-operating-system>
+[^3]: <https://ubuntu.com/robotics/what-is-ros>
diff --git a/docs/reference/sailing/ais_terms.md b/docs/reference/sailing/ais_terms.md
new file mode 100644
index 000000000..7b8833131
--- /dev/null
+++ b/docs/reference/sailing/ais_terms.md
@@ -0,0 +1,39 @@
+# AIS Terms
+
+This section explains the most unfamiliar fields that we receive from the AIS.
+
+## MMSI a.k.a ID
+
+A 9-digit, unique identification number for the ship.
+
+## COG: Course over Ground
+
+The direction the boat is travelling, relative to the sea floor. This is the direction of the rate of change
+of the [Track Made Good](miscellaneous.md/#track-made-good).
+
+This is measured with the navigational angle convention, where 0° is towards the North, and angles increase in the
+clockwise direction. If we make the slight simplification of neglecting the effect of the wind, then
+
+- If the boatspeed is positive and there is no current, the boat's Course over Ground will be the same as the Heading.
+- If the boatspeed is zero and there is positive current, the boat's Course over Ground will be the same direction as the
+current is flowing.
+
+## SOG: Speed over Ground
+
+The speed the boat is travelling at, relative to the sea floor. This is the magnitude of the rate of change
+of the [Track Made Good](miscellaneous.md/#track-made-good).
+
+$\begin{align*}
+\text{SoG} &= \left|\frac{d}{dt} \overrightarrow{(\text{Track Made Good})} \right|\\
+\end{align*}$
+
+If we make the slight simplification of neglecting the effect of the wind, then
+
+- If the boatspeed is positive and there is no current, the boat's Speed over Ground will be the same as the speed of water
+hitting your hand, if you were sitting on the boat and put your hand in the water.
+- If the boatspeed is zero and there is positive current, the boat's Speed over Ground will be the same speed as the
+current.
+
+## RoT: Rate of Turn
+
+The angular velocity of the boat (how fast it's turning), measured in degrees per minute.
diff --git a/docs/reference/sailing/boat_parts.md b/docs/reference/sailing/boat_parts.md
new file mode 100644
index 000000000..10aa3d4f2
--- /dev/null
+++ b/docs/reference/sailing/boat_parts.md
@@ -0,0 +1,97 @@
+# Parts of a Sailboat
+
+This page names some important parts of a sailboat, and explains what the part is for.
+Read the descriptions of the parts below, and refer to the image to see where the part fits in.
+
+![image](../../assets/images/sailing/parts_of_boat.jpg)
+
+## Hull
+
+The ***Hull*** is the "boat" part of the boat, which displaces water to create buoyancy. The following parts of the boat
+are attached to the hull:
+
+- ***Keel***: The keel has a large mass on the end, which keeps the sailboat upright. The fin-like shape of the
+keel provides *lateral resistance* to prevent the boat from slipping sideways through the water.
+- ***Rudder***: Raye has two rudders for redundancy. The rudders can angle side to side to steer the boat.
+To steer the boat effectively, the rudders need enough water flowing over them to create a pressure difference when they
+angle sideways. Controls sends commands to the rudder to steer the boat.
+
+It is also helpful to know the names of the following "regions" of the hull:
+
+- ***Bow***: The front of the boat.
+- ***Stern***: The back of the boat.
+    - *Aft* means "backwards towards the stern".
+- ***Starboard***: The side of the boat which is on the **right**, for someone standing on the boat facing the bow.
+- ***Port***: The side of the boat which is on the **left**, for someone standing on the boat facing the bow.
+    - To remember which is which between starboard and port, remember that "port" and "left" both have 4 letters.
+
+The image below shows a birds-eye view of the outline of a hull of a sailboat,
+where the "regions" of the hull are labeled.
+
+![image](../../assets/images/sailing/regions_of_hull.jpg)
+
+## Jib
+
+The ***Jib*** is the sail located near the bow, and is the smaller of the two sails.
+
+- *Jib Sheet*: In general, *sheets* are ropes that pull a sail in to the boat, and the jib sheet does this for the jib.
+On Raye, the jib sheet connects to the back bottom corner of the jib, through a pulley near the bottom of the mast to
+the Jib Winch. Most sailboats have two jib sheets, one on either side, but Raye is designed differently for autonomy.
+- The ***Jib Winch*** is a motor-driven device that tightens or pulls in the jib by pulling on the jib sheet.
+Controls sends commands to the winches.
+- The *jib halyard*: In general, a *halyard* is a rope that pulls a sail up. The jib halyard pulls up the jib.
+It connects to the top of the jib, runs through a pulley near the top of the mast, and is tied off
+near the bottom of the mast.
+
+## Mast
+
+The ***Mast*** is the long vertical pole which connects to hull. It holds up the sails and some instruments.
+
+The following instruments are at the top of the mast:
+
+- One of the 3 ***Wind Sensors***. The top of the mast is a good location to measure undisturbed wind.
+Pathfinding and Controls both use data from the wind sensors.
+- The ***AIS antenna***. AIS ("Autonomous Identification System") is a system by which ships
+communicate their location, speed, and other information to surrounding ships via radio signals.
+Pathfinding uses AIS data to avoid other ships.
+
+The mast is held upright by three lines:
+
+- The *forestay* connects the mast from the top of the jib to the bow, and runs parallel to the front edge of the jib.
+- The two *shrouds* connect the mast from the top of the jib to the outside edges of the hull slightly aft of the mast.
+There is one shroud on the startboard side and one on the port side.
+
+## Main Sail
+
+The ***Main Sail*** is the larger of the two sails, and is located aft of the mast.
+Most of the boat's propulsion comes from the main sail.
+
+- The *Boom* is the horizontal pole that holds the bottom corner of the main sail out from the mast.
+- *Main Sheet* is the rope that pulls the main sail in towards the center of the boat. It connects from the back end of
+the boom, through a pulley on the stern, to the Main Winch.
+- The ***Main Winch*** is a motor-driven device that pulls in the main sail by pulling on the main sheet.
+Controls sends commands to the main winch.
+- The *main halyard* is the line used to hoist the main sail.
+
+## Conclusion
+
+Hopefully this section helped you gain familiarity with some common sailing terms.
+It likely feels like this section contains a lot of new information. It's unrealistic to remember it all perfectly,
+but make an effort to remember the terms which are ***Bolded and Italicized***.
+
+## Keywords on this Page
+
+- Hull
+- Keel
+- Rudder
+- Bow
+- Stern
+- Starboard
+- Port
+- Jib
+- Jib winch
+- Mast
+- Wind Sensor
+- AIS Antenna
+- Main Sail
+- Main Winch
diff --git a/docs/reference/sailing/miscellaneous.md b/docs/reference/sailing/miscellaneous.md
new file mode 100644
index 000000000..7dacc869f
--- /dev/null
+++ b/docs/reference/sailing/miscellaneous.md
@@ -0,0 +1,121 @@
+# Miscellaneous Sailing Knowledge
+
+This section covers some other useful information.
+
+## Wind Direction Convention
+
+Generally speaking, there are two ways to use an angle to describe the wind direction.
+
+1. The angle tells you which way the wind is **blowing towards**. For example, 0° means the wind is blowing from North
+to South.
+2. The angle tells you which way the wind is **coming from**. For example, 0° means the wind is blowing from South to North.
+
+In sailing, we normally talk about "where the wind is **coming from**". Somehow this ends up being more intuitive when
+talking about maneuvers or sail angle adjustments.
+
+However, when describing the wind as a vector, it can make more sense for the vector to represent the actual
+speed and direction the air is flowing. Make sure to document which convention you are using in your work when
+its applicable, and don't be afraid to ask someone to clarify which convention they are using in their work.
+
+## Navigation Terms
+
+### Heading
+
+In navigation generally (outside of Sailbot), the ***Heading*** is the direction the bow of the boat is pointing
+towards. Headings are typically (but not always at Sailbot) measured relative to true North in the clockwise direction.
+
+### Bearing
+
+A ***Bearing*** is used to describe one point in relation to another: the Bearing of point "A" from point "B"
+is the direction you would would look towards if you wanted to see point "A" while standing at point "B". A *Range*
+is the distance between points "A" and "B", so that a Bearing and Range together can locate point "A" relative to point
+"B" in polar co-ordinates. There are two main ways of measuring bearings:
+
+- A *True Bearing* is a bearing where the angle convention is as follows: 0° is towards the **North**,
+angles increase in the clockwise direction, and angles are typically bounded within [0°, 360°)]
+- A *Relative Bearing* is a bearing where the angle convention is as follows: 0° is **straight forwards relative to the
+boat**, and angle measurements increase in the clockwise direction. Angles may be bounded in [-180°, 180°) or [0°, 360°)
+
+In the example below, the boat "B" has a Heading (H) of 30°. The True Bearing ($B_t$) of the Lighthouse "A"
+from the boat is 90°. The Relative Bearing ($B_r$) of the lighthouse from the boat is 60°.
+
+![image](../../assets/images/sailing/bearing_vs_heading.jpg)
+
+### Track Made Good
+
+Boats do not necessarily travel in the same direction as their ***Heading***, due to the effects of ocean current and
+wind. The path the boat has traveled relative to the sea floor is called the ***Track Made Good***. This is the
+same as if you measured motion compared to land or with a GPS.
+
+![image](../../assets/images/sailing/track_made_good.jpg)
+
+### Heading and Bearing in Raye Project
+
+In Sailbot's Raye project, ***Heading*** and ***Bearing*** are used to refer to different conventions for describing
+which way the boat is pointing.
+The following 3 pieces of information are needed to unambiguously define an angle measuring convention:
+
+- What does 0° mean? If 0° is North, is it **towards** the North or **away** from the North?
+- Do the angle measurements increase in the clockwise or counter-clockwise direction?
+- What range should the angles be bounded to? This part is often unimportant if the angles are only used in
+trigonometry functions.
+
+Some common examples of angle measuring conventions which we use are:
+
+- 0° means towards the East, angles increase in the counter-clockwise direction, and angles are bounded in
+[-180°, 180°). This is effectively the main angle convention used in most math courses.
+- 0° means towards the North, angles increase in the clockwise direction, and angles are bounded in [0°, 360°). This
+angle convention is more commonly used by navigators.
+
+The specific angle conventions which we call Heading and Bearing can be ambiguous, and may be subject to change,
+so they are deliberately omitted here. Refer to the applicable source code to determine what the angle conventions are.
+
+## True, Apparent, and Boat Wind
+
+- *True Wind* is the wind vector (speed and direction) which you would measure while standing on land (or motionless at
+sea with unchanging GPS co-ordinates). In sailbot code, this may be referred to as ***Global Wind***. When people
+refer to "the wind", they normally mean True Wind.
+- *Boat Wind* is the wind vector which you would measure while standing on a moving boat when the True Wind speed is 0.
+This means that boat wind always blows straight onto the bow of the boat, and the magnitude of the boat wind is equal to
+the speed of the boat.
+- ***Apparent Wind*** is the vector sum of the True Wind and the Boat Wind. This is the wind that you would measure while
+standing on a moving boat more generally, even if there is non-zero wind. The apparent wind is also what our wind
+sensors measure, and what our sails feel. In Sailbot code, Apparent Wind may be referred to as ***Measured Wind***.
+
+In the example below, suppose the wind is blowing from the North at 4 m/s, and suppose the boat is moving **towards**
+the East at 3 m/s.
+
+- The True Wind everywhere is blowing at 4 m/s from the North
+- The Boat Wind onboard the boat is blowing **from** the East at 3 m/s
+- The Apparent Wind onboard the boat is has a magnitude of $\sqrt{3^2 + 4^2} = 5 \text{ m/s}$,
+and is coming from a true bearing of $\arctan{(\frac{3}{4})} = 36.9°$.
+
+![image](../../assets/images/sailing/wind_types.jpg)
+
+## Tack
+
+In the [Types of Turn](./turning.md#tacking)
+page, we discussed how a ***Tack*** is a type of turn. Weirdly, the word "tack" actually has two
+more distinct meanings in sailing. The word "Tack" can refer to:
+
+- the type of turn, as covered before.
+- *Starboard Tack* vs *Port Tack*: The tack is basically the side of the boat which is further upwind. More thoroughly,
+the tack is the opposite side to the sail. This means that boats change tack when the sail switches sides.
+    - In the diagram below,
+    the 3 boats on the left of the diagram are on Starboard Tack, and the 3 boats on the right side are on Port Tack.
+    - The tack of a boat in *Irons* is undefined.
+    - The boat in the diagram on a run is on Port Tack. If the boat continued straight but the sail switched sides into
+    the position shown by the **dashed** line, the boat would be on Starboard Tack.
+
+![image](../../assets/images/sailing/tack_other_meaning.jpg)
+
+- Finally, the Tack can refer to particular region of the main sail. This is not important for software members.
+
+## Keywords on this Page
+
+- Heading
+- Bearing
+- Track Made Good
+- Global Wind (aka True Wind)
+- Measured Wind (aka Apparent Wind)
+- Tack
diff --git a/docs/reference/sailing/overview.md b/docs/reference/sailing/overview.md
new file mode 100644
index 000000000..400a63184
--- /dev/null
+++ b/docs/reference/sailing/overview.md
@@ -0,0 +1,10 @@
+# Sailing Knowledge Section Overview
+
+In order to make high-quality contributions to Sailbot's Software teams, it is extremely helpful to have some
+understanding of sailing. This section introduces important parts of a sailboat, explains the 4 types of turns,
+discusses upwind and downwind sailing, and covers some other helpful knowledge.
+
+In this section, terms which are ***Bolded and Italicized*** are the most important terms to know.
+These terms are listed at the bottom of each page.
+Terms that are only *Italicized* are other helpful sailing terms.
+Words that are **bolded** are meant to be emphasized, but are not necessarily considered important vocabulary.
diff --git a/docs/reference/sailing/points_of_sail.md b/docs/reference/sailing/points_of_sail.md
new file mode 100644
index 000000000..348cd6780
--- /dev/null
+++ b/docs/reference/sailing/points_of_sail.md
@@ -0,0 +1,47 @@
+# Points of Sail
+
+In sailing, we sometimes talk about different angles that we can sail on with respect to the wind.
+Ranges of angles which are close together have special names. These ranges are called *points of sail*.
+The discussion below coveres the most important points of sail for software members to understand.
+
+Notice how for *higher* points of sail (points of sail closer to straight into the wind), the sail is pulled tightly
+in to the boat. If the boat is on a *lower* point of sail, the sails should be let further out of the boat. For any
+point of sail, there is an optimum angle that the sail should be adjusted to. If the sails are adjusted too far in
+or too far out, the boat will not go as fast as it could if the sails were adjusted correctly.
+
+![image](../../assets/images/sailing/points_of_sail.jpg)
+
+## Irons
+
+The range of angles where the boat is roughly pointing straight into the wind are called ***Irons***, or the
+***No-Go Zone***.
+If the boat is pointing in these directions, the sails will be flapping regardless of how the sheets are adjusted.
+When the sails are flapping, they are not catching the wind in a way that can propell the boat forwards.
+When the boat looses propulsion, water stops flowing over the rudder, and the boat loses steering.
+This is why we want our sailbots to avoid being stuck in irons.
+
+## Upwind Sailing
+
+If we want to sail to a destination that is not on too high or low of an angle upwind or downwind from our starting
+position, we can just point our boat in that direction, adjust our sails, and go there.
+
+However, sometimes we want to sail to a destination that is straight upwind of our starting position.
+To get there, we will need to do upwind sailing.
+Since we can't point our boat directly into the wind, we need to sail on an angle on the edge of irons.
+We will need to tack back and forth every now and then if we want to go directly upwind.
+The point of sail on the edge of Irons is called ***Close Hauled***.
+
+## Downwind Sailing
+
+Raye also avoids sailing straight downwind. This means that to reach a goal downwind of the starting position,
+we need to gybe back and forth in a zig-zag pattern. The point of sail straight
+downwind is called a *run*, and the next point of sail higher than a *run* is called a *broad reach*.
+
+![image](../../assets/images/sailing/upwind_downwind_sailing.jpg)
+
+## Keywords on this Page
+
+- Irons (aka No-Go Zone)
+- Upwind Sailing
+- Close Hauled
+- Downwind Sailing
diff --git a/docs/reference/sailing/turning.md b/docs/reference/sailing/turning.md
new file mode 100644
index 000000000..b9257bbf0
--- /dev/null
+++ b/docs/reference/sailing/turning.md
@@ -0,0 +1,111 @@
+# Types of Turns
+
+In sailing, there are 4 distinct types of turns. Read the descriptions below, and observe how they fit into the diagrams.
+
+Note that any of these types of turn can be done in either the clockwise or counter-clockwise directions.
+
+## Classifying Types Of Turns Summary
+
+The following flowchart summarizes how to distinguish between different types of turns. Note:
+
+- to point ***higher*** means to steer your boat to point in a direction closer to straight into the wind
+- to point ***lower*** means to steer your boat to point in a direction closer towards to straight downwind
+
+``` mermaid
+graph LR
+    B[Classify a Turn] --> C{Does the sail change<br/>sides during the turn?};
+    C --> |Yes| E{Which end of<br/>the boat is upwind<br/>during the turn?};
+    C --> |No| D{Does the<br/>boat point higher<br/>or lower at the end<br/>of the turn?};
+    D --> |Higher| F[Heading Up];
+    D --> |Lower| G[Bearing Off];
+    E --> |Bow| H[Tack];
+    E --> |Stern| I[Gybe];
+```
+
+The diagrams in this section show outlines of the hull of a boat and its main sail going through turns.
+As is common in these types of diagrams, assume that the wind is blowing down from the top of the screen unless
+there is an arrow that indicates otherwise.
+
+![image](../../assets/images/sailing/types_of_turn.jpg)
+
+## Heading Up
+
+When the boat makes any turn as follows, it is called ***Heading Up***:
+
+- At the end of the turn, the boat is pointing *higher*.
+- Throughout the turn, the sails stay on the same side of the boat. In other words, the sails do **not** cross between
+the starboard and port sides.
+
+Unlike some of the other turns listed here, heading up can be a large turn or a small course adjustment of just a few
+degrees.
+
+The image below shows a boat heading up. Notice how the sail stays on the starboard side of the boat.
+
+![image](../../assets/images/sailing/head_up.jpg)
+
+## Bearing Off
+
+When the boat makes any turn as follows, it is called ***Bearing Off***:
+
+- At the end of the turn, the boat is pointing *lower*.
+- Throughout the turn, the sails stays on the same side of the boat (port or starboard).
+
+Like heading up, bearing off can be a small course adjustment.
+
+![image](../../assets/images/sailing/bear_off.jpg)
+
+## Tacking
+
+When the boat makes any turn as follows, it is called a ***Tack*** or ***Tacking***:
+
+- The sails change sides.
+- Through the turn, the wind hits the **bow** of the boat before the stern. You can also say that the bow is *upwind* or
+*windward* of the stern.
+
+Notice how at some point throughout this turn, the boat will be pointing straight into the wind.
+While the boat points nearly straight into the wind, the sails don't generate any forward propulsion.
+This means that a tack must be a large (at least ~90°) turn all at once, so that the boat's momentum carries it through
+the range of angles where it does not get propulsion.
+
+![image](../../assets/images/sailing/tack.jpg)
+
+## Gybing
+
+When the boat makes any turn as follows, it is called a ***Gybe*** or ***Gybing***.
+
+- The sails change sides.
+- Through the turn, the wind hits the **stern** of the boat before the bow. You can also say that the bow of the boat is
+*downwind* or *leeward* of the stern.
+
+When sailing on most angles relative to the wind, the sail is always blown to the downwind side of the boat.
+However, sailing nearly straight downwind, both sides of the boat are equally "downwind" relative to eachother.
+This means that the sail can be on either side of the boat.
+
+The sail propells the boat throughout a gybe, so it is possible to conduct the turn more gradually than a tack.
+However, because the sail can be on either side, the sails can switch sides in an uncontrolled way as the boat moves in
+the waves. For this reason, Raye avoids sailing on angles close to straight downwind, and gybes by doing a quick ~60°
+turn.
+
+Note that "gybe" is the spelling used in Canadian and British english, whereas in American english it is spelled "**Jibe**"
+
+![image](../../assets/images/sailing/gybe.jpg)
+
+## Combinations of Turns
+
+Of course, it is possible to do two or more of these types of turns in one continuous motion.
+What two types of turns does the boat do in the image below?
+
+![image](../../assets/images/sailing/bear_off_then_gybe.jpg)
+
+Answer: In the turn shown by the first arrow, the sail stays on the port side of the boat while it steers to point further
+downwind. This means that the first part of the maneuver is **bearing off**. In the next part of the maneuver, the sail
+changes sides and the stern of the boat is upwind of the bow. This part of the maneuver is a **gybe**.
+
+## Keywords on this Page
+
+- Higher (in relation to pointing)
+- Lower (in relation to pointing)
+- Heading Up
+- Bearing Off
+- Tack
+- Gybe (aka Jibe)
diff --git a/docs/requirements.txt b/docs/requirements.txt
new file mode 100644
index 000000000..b8f560561
--- /dev/null
+++ b/docs/requirements.txt
@@ -0,0 +1,5 @@
+cairosvg
+mkdocs-git-revision-date-localized-plugin==1.*
+mkdocs-material==9.*
+mike
+pillow
diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css
new file mode 100644
index 000000000..3c68478c4
--- /dev/null
+++ b/docs/stylesheets/extra.css
@@ -0,0 +1,26 @@
+:root > * {
+  --md-primary-fg-color:        #1665a2;
+  --md-primary-fg-color--light: #73a3c7;
+  --md-primary-fg-color--dark:  #0d3d61;
+}
+
+[data-md-color-scheme="slate"] {
+  --md-hue: 200;
+}
+
+/* Styling for left navigation panel*/
+.md-sidebar__inner > .md-nav > .md-nav__list > .md-nav__item > .md-nav__link { color: #2f97ec; }
+.md-nav__link:hover { color: #2f97ec; }
+.md-nav__link.md-nav__link--active { color: #2f97ec; }
+
+/* Styling for links embedded in text*/
+.md-content__inner a {color: #2f97ec;}
+.md-content__inner a:hover {color: #2f97ec;}
+.md-content__inner a:focus {color: #2f97ec;}
+
+/* Styling for right navigation panel (Table of Contents) controlled by javascripts/table_of_contents_themes.js */
+nav.md-nav.md-nav--secondary > .md-nav__list > .md-nav__item > .md-nav__link {color: var(--md-table-of-contents-link-color);}
+nav.md-nav.md-nav--secondary > .md-nav__list > .md-nav__item > .md-nav__link:hover {color: #2f97ec;}
+nav.md-nav.md-nav--secondary > .md-nav__list > .md-nav__item > .md-nav__link.md-nav__link--passed.md-nav__link--active {color: #2f97ec;}
+.md-nav__link--passed {color: var(--md-table-of-contents-link-color);}
+.md-nav__link--passed:hover {color: #2f97ec;}
diff --git a/mkdocs.yml b/mkdocs.yml
new file mode 100644
index 000000000..4d981e893
--- /dev/null
+++ b/mkdocs.yml
@@ -0,0 +1,176 @@
+# Project information
+site_name: UBCSailbot Software Team Docs
+site_url: https://UBCSailbot.github.io/docs/
+site_author: UBCSailbot Software Team
+
+# Repository
+repo_name: UBCSailbot/docs
+repo_url: https://github.com/UBCSailbot/docs
+edit_uri: "edit/main/docs/"
+
+# Configuration
+theme:
+  name: material
+  custom_dir: docs/overrides
+  logo: assets/ubcsailbot-white.png
+  features:
+    - content.action.edit
+    - content.action.view
+    - content.code.annotate
+    - content.code.copy
+    - content.tabs.link
+    - navigation.expand
+    - navigation.footer
+    - navigation.instant
+    - navigation.tabs
+    - navigation.tabs.sticky
+    - navigation.top
+    - search.highlight
+    - search.share
+    - search.suggest
+    - toc.follow
+  palette:
+    - media: "(prefers-color-scheme: light)"
+      scheme: default
+      toggle:
+        icon: material/brightness-7
+        name: Switch to dark mode
+    - media: "(prefers-color-scheme: dark)"
+      scheme: slate
+      toggle:
+        icon: material/brightness-4
+        name: Switch to light mode
+
+# Plugins
+plugins:
+  - git-revision-date-localized:
+      timezone: America/Vancouver
+  - search:
+      separator: '[\s\-,:!=\[\]()"/]+|(?!\b)(?=[A-Z][a-z])|\.(?!\d)|&[lg]t;'
+  - social:
+      cards_layout_options:
+        background_color: "#1665A2"
+
+# Customization
+extra:
+  social:
+    - icon: material/sail-boat
+      link: https://www.ubcsailbot.org/
+    - icon: material/instagram
+      link: https://www.instagram.com/ubcsailbot/
+    - icon: material/linkedin
+      link: https://www.linkedin.com/company/ubc-sailbot/
+    - icon: material/github
+      link: https://github.com/UBCSailbot
+    - icon: material/email
+      link: mailto:software@ubcsailbot.org
+  version:
+    provider: mike
+
+extra_css:
+  - stylesheets/extra.css
+
+extra_javascript:
+  - javascripts/mathjax.js
+  - javascripts/table_of_contents_themes.js
+  - https://polyfill.io/v3/polyfill.min.js?features=es6
+  - https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js
+
+# Extensions
+markdown_extensions:
+  # Python Markdown
+  - abbr
+  - admonition
+  - attr_list
+  - def_list
+  - footnotes
+  - md_in_html
+  - toc:
+      permalink: true
+
+  # Python Markdown Extensions
+  - pymdownx.arithmatex:
+      generic: true
+  - pymdownx.betterem:
+      smart_enable: all
+  - pymdownx.caret
+  - pymdownx.details
+  - pymdownx.emoji:
+      emoji_index: !!python/name:material.extensions.emoji.twemoji
+      emoji_generator: !!python/name:material.extensions.emoji.to_svg
+      options:
+        custom_icons:
+          - overrides/.icons
+  - pymdownx.highlight:
+      anchor_linenums: true
+  - pymdownx.inlinehilite
+  - pymdownx.keys
+  - pymdownx.mark
+  - pymdownx.smartsymbols
+  - pymdownx.snippets:
+      url_download: true
+  - pymdownx.superfences:
+      custom_fences:
+        - name: mermaid
+          class: mermaid
+          format: !!python/name:pymdownx.superfences.fence_code_format
+  - pymdownx.tabbed:
+      alternate_style: true
+  - pymdownx.tasklist:
+      custom_checkbox: true
+  - pymdownx.tilde
+
+# Page tree
+nav:
+  - Home: index.md
+  - Current Project:
+    - Overview: current/overview.md
+    - Sailbot Workspace:
+      - Overview: current/sailbot_workspace/overview.md
+      - Setup: current/sailbot_workspace/setup.md
+      - Parameters: current/sailbot_workspace/parameters.md
+      - Workflow: current/sailbot_workspace/workflow.md
+      - How-To's: current/sailbot_workspace/how_to.md
+      - Deployment: current/sailbot_workspace/deployment.md
+      - Images: current/sailbot_workspace/docker_images.md
+      - Launch Files: current/sailbot_workspace/launch_files.md
+    - Boat Simulator:
+      - Overview: current/boat_simulator/overview.md
+    - Controller:
+      - Overview: current/controller/overview.md
+    - Custom Interfaces:
+      - Overview: current/custom_interfaces/overview.md
+    - Docs:
+      - Overview: current/docs/overview.md
+    - Local Pathfinding:
+      - Overview: current/local_pathfinding/overview.md
+    - Network Systems:
+      - Overview: current/network_systems/overview.md
+    - Notebooks:
+      - Overview: current/notebooks/overview.md
+    - Website:
+      - Overview: current/website/overview.md
+  - Reference:
+    - C++:
+      - Getting Started: reference/cpp/start.md
+      - Differences: reference/cpp/differences.md
+      - Tools: reference/cpp/tools.md
+    - GitHub:
+      - Development Workflow:
+        - Overview: reference/github/workflow/overview.md
+        - Creating Issues: reference/github/workflow/issues.md
+        - Developing on Branches: reference/github/workflow/branches.md
+        - Pull Requests: reference/github/workflow/pr.md
+    - Markdown: reference/markdown.md
+    - Python:
+      - Getting Started: reference/python/start.md
+      - Conventions: reference/python/conventions.md
+      - Virtual Environments: reference/python/virtual-environments.md
+    - Robot Operating System: reference/ros.md
+    - Sailing Knowledge:
+      - Overview: reference/sailing/overview.md
+      - Parts of a Sailboat: reference/sailing/boat_parts.md
+      - Types of Turns: reference/sailing/turning.md
+      - Points of Sail: reference/sailing/points_of_sail.md
+      - AIS Terms: reference/sailing/ais_terms.md
+      - Miscellaneous: reference/sailing/miscellaneous.md
diff --git a/sailbot.code-workspace b/sailbot.code-workspace
index f0596ea67..7d4c06398 100644
--- a/sailbot.code-workspace
+++ b/sailbot.code-workspace
@@ -3,6 +3,9 @@
         {
             "path": "."
         },
+        {
+            "path": "docs"
+        },
         {
             "path": "src/boat_simulator"
         },
@@ -15,9 +18,6 @@
         {
             "path": "src/diagnostics"
         },
-        {
-            "path": "src/docs"
-        },
         {
             "path": "src/global_launch"
         },
@@ -58,7 +58,11 @@
             "autopep",
             "bsoncxx",
             "buildx",
+            "Clangd",
             "cmake",
+            "completionist",
+            "conda",
+            "cout",
             "cppcheck",
             "cppdbg",
             "cpplint",
@@ -66,8 +70,12 @@
             "deque",
             "devcontainer",
             "dtype",
+            "endl",
             "gaurav",
+            "gtest",
+            "ighxy",
             "ints",
+            "iostream",
             "isort",
             "kmph",
             "mkdocs",
@@ -76,6 +84,7 @@
             "noqa",
             "OMPL",
             "pallete",
+            "Protobuf",
             "protofiles",
             "pytest",
             "Raye",
@@ -83,17 +92,28 @@
             "rclpy",
             "rcutils",
             "repos",
+            "roscd",
             "rosdep",
             "rosdistro",
             "rosidl",
+            "roslaunch",
+            "rosrun",
             "RTPS",
             "srcnew",
             "srcraye",
+            "struct",
+            "Structs",
             "ubcsailbot",
             "uncrustify",
+            "virtualenv",
             "Wextra",
             "Wpedantic",
-            "xmllint"
+            "xcalc",
+            "xhost",
+            "xinit",
+            "xinitrc",
+            "xmllint",
+            "xorg"
         ],
         "editor.inlayHints.enabled": "off",
         "editor.renderWhitespace": "trailing",
@@ -258,8 +278,11 @@
             "https://squidfunk.github.io/mkdocs-material/schema.json": "mkdocs.yml"
         },
         "yaml.customTags": [
-            "tag:yaml.org,2002:python/name:materialx.emoji.twemoji",
-            "tag:yaml.org,2002:python/name:materialx.emoji.to_svg",
+            "!ENV scalar",
+            "!ENV sequence",
+            "!relative scalar",
+            "tag:yaml.org,2002:python/name:material.extensions.emoji.to_svg",
+            "tag:yaml.org,2002:python/name:material.extensions.emoji.twemoji",
             "tag:yaml.org,2002:python/name:pymdownx.superfences.fence_code_format"
         ],
 
diff --git a/src/polaris.repos b/src/polaris.repos
index 65bc55fa0..1801e178a 100644
--- a/src/polaris.repos
+++ b/src/polaris.repos
@@ -37,11 +37,6 @@ repositories:
     url: https://github.com/UBCSailbot/diagnostics
     version: main
 
-  docs:
-    type: git
-    url: https://github.com/UBCSailbot/docs
-    version: main
-
   local_pathfinding:
     type: git
     url: https://github.com/UBCSailbot/local_pathfinding