doc: add documentation based on the Sphinx theme

[annastuchlik]

When this project is actively developed, we need to add the documentation to the docs folder and install the Sphinx theme to be able to publish the documentation for this project.

[annastuchlik]

We should add the documentation now that the driver has been released.
@dgarcia360 Let's install the Sphinx theme.
@wprzytula After the Sphinx theme is in place, we can start adding content.