Build docs and upload to gh-pages (#1232)

For #889

.github/workflows/docs.yml

@@ -0,0 +1,43 @@
+name: Documentation
+on:
+  push:
+    branches: [release/*, develop]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: "pages"
+  cancel-in-progress: true
+
+jobs:
+  deploy:
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-20.04
+    continue-on-error: true
+    container:
+      image: rippleci/clio_ci:latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Build docs
+        run: |
+          mkdir -p build_docs && cd build_docs
+          cmake ../docs && cmake --build . --target docs
+      - name: Setup Pages
+        uses: actions/configure-pages@v3
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: build_docs/html
+          name: docs-develop # TODO: use x.y.z for `release/x.y.z` branches and `develop` for latest dev docs
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v3