diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
index 79919c7426..8b7fcc3041 100644
--- a/joint_trajectory_controller/doc/userdoc.rst
+++ b/joint_trajectory_controller/doc/userdoc.rst
@@ -194,6 +194,7 @@ Further information
 
    Trajectory Representation <trajectory.rst>
    joint_trajectory_controller Parameters <parameters.rst>
+   rqt_joint_trajectory_controller <../../rqt_joint_trajectory_controller/doc/userdoc.rst>
 
 
 .. rubric:: Footnote
diff --git a/rqt_joint_trajectory_controller/doc/rqt_joint_trajectory_controller.png b/rqt_joint_trajectory_controller/doc/rqt_joint_trajectory_controller.png
new file mode 100644
index 0000000000..cb86f4620b
Binary files /dev/null and b/rqt_joint_trajectory_controller/doc/rqt_joint_trajectory_controller.png differ
diff --git a/rqt_joint_trajectory_controller/doc/userdoc.rst b/rqt_joint_trajectory_controller/doc/userdoc.rst
new file mode 100644
index 0000000000..197a7afb30
--- /dev/null
+++ b/rqt_joint_trajectory_controller/doc/userdoc.rst
@@ -0,0 +1,12 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/rqt_joint_trajectory_controller/doc/userdoc.rst
+
+.. _rqt_joint_trajectory_controller_userdoc:
+
+rqt_joint_trajectory_controller
+===============================
+
+rqt_joint_trajectory_controller is a GUI plugin for rqt that allows to command a joint_trajectory_controller.
+
+.. image:: rqt_joint_trajectory_controller.png
+  :width: 400
+  :alt: rqt_joint_trajectory_controller