diff --git a/.github/workflows/sphinx-make-page.yml b/.github/workflows/sphinx-make-page.yml
index 081a36adb53..f495b0dc9f8 100644
--- a/.github/workflows/sphinx-make-page.yml
+++ b/.github/workflows/sphinx-make-page.yml
@@ -24,6 +24,12 @@ jobs:
       run: |
         python -m pip install --upgrade pip
         pip install --upgrade --requirement requirements.txt
+    - name: Install generator parameter library
+      run: |
+        cd
+        git clone https://github.com/PickNikRobotics/generate_parameter_library.git
+        cd generate_parameter_library/generate_parameter_library_py/
+        sudo python setup.py install
     - name: Install doxygen and graphviz
       run: sudo apt-get install -y doxygen graphviz
     - name: Build multiversion with API
diff --git a/_ext/generate_parameter_library.py b/_ext/generate_parameter_library.py
new file mode 100644
index 00000000000..b48aa9ab40a
--- /dev/null
+++ b/_ext/generate_parameter_library.py
@@ -0,0 +1,83 @@
+from docutils import nodes
+from sphinx.util.docutils import SphinxDirective
+from sphinx.util.nodes import nested_parse_with_titles
+from docutils.statemachine import ViewList
+from generate_parameter_library_py.parse_yaml import (
+    GenerateCode,
+)
+from generate_parameter_library_py.generate_markdown import (
+    DefaultConfigMarkdown,
+    ParameterDetailMarkdown
+)
+
+class GeneraterParameterLibraryDetails(SphinxDirective):
+    required_arguments = 1
+    optional_arguments = 0
+
+    def run(self):
+        # get the absolute path from sphinx tree
+        yaml_file = self.env.relfn2path(self.arguments[0], self.env.docname)[0]
+
+        gen_param_struct = GenerateCode("rst")
+        gen_param_struct.parse(yaml_file, "")
+
+        param_details = [
+            ParameterDetailMarkdown(param)
+            for param in gen_param_struct.declare_parameters
+        ]
+        docs = "\n".join(str(val) for val in param_details)
+        # print(docs)
+
+        # Add the content one line at a time.
+        # Second argument is the filename to report in any warnings
+        # or errors, third argument is the line number.
+        # rst.append(docs, yaml_file, 10)
+        rst = ViewList()
+        for line in docs.splitlines():
+          rst.append(line, yaml_file)
+
+        node = nodes.section()
+        # necessary so that the child nodes get the right source/line set
+        node.document = self.state.document
+        nested_parse_with_titles(self.state, rst, node)
+
+        return node.children
+
+class GeneraterParameterLibraryDefaultConfig(SphinxDirective):
+    required_arguments = 1
+    optional_arguments = 0
+
+    def run(self):
+        # get the absolute path from sphinx tree
+        yaml_file = self.env.relfn2path(self.arguments[0], self.env.docname)[0]
+
+        gen_param_struct = GenerateCode("rst")
+        gen_param_struct.parse(yaml_file, "")
+        auto_doc = DefaultConfigMarkdown(gen_param_struct)
+        docs = str(auto_doc)
+        # print(docs)
+
+        # Add the content one line at a time.
+        # Second argument is the filename to report in any warnings
+        # or errors, third argument is the line number.
+        # rst.append(docs, yaml_file, 10)
+        rst = ViewList()
+        for line in docs.splitlines():
+          rst.append(line, yaml_file)
+
+        node = nodes.section()
+        # necessary so that the child nodes get the right source/line set
+        node.document = self.state.document
+        nested_parse_with_titles(self.state, rst, node)
+
+        return node.children
+
+def setup(app):
+    app.add_directive("generate_parameter_library_details", GeneraterParameterLibraryDetails)
+    app.add_directive("generate_parameter_library_default", GeneraterParameterLibraryDefaultConfig)
+
+    return {
+        'version': '0.1',
+        'parallel_read_safe': True,
+        'parallel_write_safe': True,
+    }
diff --git a/conf.py b/conf.py
index 3d94110bf00..44c583fabad 100644
--- a/conf.py
+++ b/conf.py
@@ -19,6 +19,7 @@
 
 from docutils.parsers.rst import Directive
 
+sys.path.append(os.path.abspath("./_ext"))
 sys.path.append(os.path.abspath("./sphinx-multiversion"))
 
 # -- General configuration -------------------------------------------------
@@ -87,7 +88,12 @@
     "sphinx.ext.extlinks",
     "sphinx.ext.ifconfig",
     "sphinx_copybutton",
+<<<<<<< HEAD
     "sphinx.ext.viewcode",
+=======
+    "sphinxcontrib.globalsubs",
+    "generate_parameter_library"
+>>>>>>> b8bf31a (Sphinx extension for autodocs (#97))
 ]
 
 # If true, `todo` and `todoList` produce output, else they produce nothing.