diff --git a/README.md b/README.md
deleted file mode 100644
index 25211f0..0000000
--- a/README.md
+++ /dev/null
@@ -1,43 +0,0 @@
-# Cartographer Project Overview
-
-Cartographer is a system that provides real-time simultaneous localization and
-mapping
-([SLAM](http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping))
-across multiple platforms and sensor configurations.
-
-## Installation with ROS
-
-See https://github.com/googlecartographer/cartographer_ros
-
-## Installation without ROS
-
-On Ubuntu 14.04 (Trusty) or Ubuntu 16.04 (Xenial):
-
-    # Install the required libraries that are available as debs
-    sudo apt-get install \
-      g++ \
-      google-mock \
-      libboost-all-dev \
-      libgflags-dev \
-      libgoogle-glog-dev \
-      liblua5.2-dev \
-      libprotobuf-dev \
-      libsuitesparse-dev \
-      libwebp-dev \
-      ninja-build \
-      protobuf-compiler \
-      python-sphinx
-
-    # Build and install Ceres
-    git clone https://ceres-solver.googlesource.com/ceres-solver
-    cd ceres-solver
-    mkdir build && cd build
-    cmake ..
-    make
-    sudo make install
-
-    # Build Cartographer
-    cd cartographer
-    mkdir build && cd build
-    cmake .. -G Ninja
-    ninja
diff --git a/README.rst b/README.rst
new file mode 100644
index 0000000..2d65698
--- /dev/null
+++ b/README.rst
@@ -0,0 +1,55 @@
+.. Copyright 2016 The Cartographer Authors
+
+.. Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+..      http://www.apache.org/licenses/LICENSE-2.0
+
+.. Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+.. Cartographer documentation master file, created by
+   sphinx-quickstart on Fri Jul  8 10:41:33 2016.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+============
+Cartographer
+============
+
+|docs|
+
+Purpose
+=======
+
+`Cartographer`_ is a system that provides real-time simultaneous localization
+and mapping `SLAM`_ across multiple platforms and sensor configurations. This
+project provides Cartographer's ROS integration.
+
+.. _Cartographer: http://www.github.com/googlecartographer/cartographer
+.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
+
+Documentation
+=============
+
+You will find complete documentation for using Cartographer `our Read the Docs
+site`_.
+
+.. _our Read the Docs site: https://google-cartographer.readthedocs.io
+
+Contributing
+============
+
+You can find information about contributing to Cartographer at our `Contribution
+page`_.
+
+.. _Contribution page: https://github.com/googlecartographer/cartographer/blob/master/CONTRIBUTING.md
+
+.. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
+    :alt: Documentation Status
+    :scale: 100%
+    :target: https://google-cartographer.readthedocs.io/en/latest/?badge=latest
diff --git a/docs/source/index.rst b/docs/source/index.rst
index f6610b7..49c305d 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -17,19 +17,61 @@
    You can adapt this file completely to your liking, but it should at least
    contain the root `toctree` directive.
 
-Welcome to Cartographer's documentation!
-========================================
-
-Contents:
+============
+Cartographer
+============
 
 .. toctree::
    :maxdepth: 2
+   :hidden:
 
+`Cartographer`_ is a system that provides real-time simultaneous localization
+and mapping `SLAM`_ across multiple platforms and sensor configurations. This
+project provides Cartographer's ROS integration.
 
+.. _Cartographer: http://www.github.com/googlecartographer/cartographer
+.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
 
-Indices and tables
-==================
+Getting Started with ROS
+========================
 
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`
+You will find complete documentation for using Cartographer with ROS at `our
+Read the Docs site`_.
+
+.. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io
+
+Getting Started without ROS
+===========================
+
+On Ubuntu 14.04 (Trusty):
+
+  .. code-block:: bash
+
+    # Install the required libraries that are available as debs
+    sudo apt-get install \
+      g++ \
+      google-mock \
+      libboost-all-dev \
+      libgflags-dev \
+      libgoogle-glog-dev \
+      liblua5.2-dev \
+      libprotobuf-dev \
+      libsuitesparse-dev \
+      libwebp-dev \
+      ninja-build \
+      protobuf-compiler \
+      python-sphinx
+
+    # Build and install Ceres
+    git clone https://ceres-solver.googlesource.com/ceres-solver
+    cd ceres-solver
+    mkdir build && cd build
+    cmake ..
+    make
+    sudo make install
+
+    # Build Cartographer
+    cd cartographer
+    mkdir build && cd build
+    cmake .. -G Ninja
+    ninja