diff --git a/.github/helpers/check_urls.sh b/.github/helpers/check_urls.sh
new file mode 100755
index 000000000..f7222d115
--- /dev/null
+++ b/.github/helpers/check_urls.sh
@@ -0,0 +1,67 @@
+#!/bin/bash
+
+set -e
+
+IGNORE_FILES=""
+IGNORE_PATTERNS=""
+
+while getopts ":f:d:p:" opt; do
+    case "${opt}" in
+        f)
+            IGNORE_FILES="${OPTARG}";;
+        d)
+            IGNORE_DIRS="${OPTARG}";;
+        p)
+            IGNORE_PATTERNS="${OPTARG}";;
+        \?)
+            echo "Invalid option -$OPTARG"
+            exit;;
+    esac
+done
+
+read -r -a ignore_files <<<"$IGNORE_FILES"
+read -r -a ignore_dirs <<<"$IGNORE_DIRS"
+read -r -a ignore_patterns <<<"$IGNORE_PATTERNS"
+
+IGNORE_FILES_ARG=""
+for item in "${ignore_files[@]}"; do
+  IGNORE_FILES_ARG="$IGNORE_FILES_ARG --exclude=$item"
+done
+IGNORE_DIRS_ARG=""
+for item in "${ignore_dirs[@]}"; do
+  IGNORE_DIRS_ARG="$IGNORE_DIRS_ARG --exclude-dir=$item"
+done
+
+#Find URLs in code:
+urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?' -rI $IGNORE_FILES_ARG $IGNORE_DIRS_ARG)
+
+fail_counter=0
+
+FAILED_LINKS=()
+for item in $urls; do
+#     echo $item
+    skip=0
+    for pattern in "${ignore_patterns[@]}"; do
+      [[ "$item" =~ $pattern ]] && skip=1
+    done
+
+    if [[ $skip == 1 ]]; then
+      echo "SKIPPING $item"
+      continue
+    fi
+
+    filename=$(echo "$item" | cut -d':' -f1)
+    url=$(echo "$item" | cut -d':' -f2-)
+    echo -n "Checking $url from file $filename"
+    if ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
+        echo -e " \033[0;31mNOT FOUND\033[32m\n"
+        FAILED_LINKS+=("$url from file $filename")
+        ((fail_counter=fail_counter+1))
+    else
+        printf " \033[32mok\033[0m\n"
+    fi
+done
+
+echo "Failed files:"
+printf '%s\n' "${FAILED_LINKS[@]}"
+exit $fail_counter
diff --git a/.github/workflows/check_links.yml b/.github/workflows/check_links.yml
new file mode 100644
index 000000000..ba1800e00
--- /dev/null
+++ b/.github/workflows/check_links.yml
@@ -0,0 +1,19 @@
+name: Check Links
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  check_links:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Check URLs
+        run: |
+          .github/helpers/check_urls.sh \
+            -d ".git build CMakeModules debian" \
+            -f "package.xml ursim_docker.rst" \
+            -p "vnc\.html"
diff --git a/README.md b/README.md
index 2413a2f11..5888b857f 100644
--- a/README.md
+++ b/README.md
@@ -103,24 +103,24 @@ For getting started, you'll basically need three steps:
    ```bash
    sudo apt-get install ros-rolling-ur
    ```
-   See the [installation instructions](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
+   See the [installation instructions](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/installation.html) for more details and source-build instructions.
 
 2. **Start & Setup the robot**. Once you've installed the driver, [setup the
-   robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
+   robot](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html)
    and [create a program for external
-   control](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/install_urcap_e_series.html).
+   control](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/install_urcap_e_series.html).
 
    Please do this step carefully and extract the calibration as explained
-   [here](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
+   [here](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html#extract-calibration-information).
    Otherwise the TCP's pose will not be correct inside the ROS ecosystem.
 
    If no real robot is required, you can [use a simulated
-   robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
+   robot](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/simulation.html#usage-with-official-ur-simulator)
    that will behave almost exactly like the real robot.
 
 
 3. **Start the driver**. See the [usage
-   documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for
+   documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/toc.html) for
    details.
 
    ```bash
@@ -129,7 +129,7 @@ For getting started, you'll basically need three steps:
    ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
    ```
 
-4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
+4. Unless started in [headless mode](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/operation_modes.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
 
 
 ## MoveIt! support
@@ -142,9 +142,9 @@ Watch MoveIt in action with the Universal Robots ROS2 driver:
   *The video shows free-space trajectory planning around a modeled collision scene object using the MoveIt2 MotionPlanning widget for Rviz2.*
 
 See the [MoveIt!
-section](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#using-moveit)
+section](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/move.html#using-moveit)
 of the [Usage
-guide](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for details.
+guide](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/toc.html) for details.
 
 ## Expected Changes in the Near Future