diff --git a/docs/custom_theme/partials/comments.html b/docs/custom_theme/partials/comments.html
new file mode 100644
index 00000000..30d9c015
--- /dev/null
+++ b/docs/custom_theme/partials/comments.html
@@ -0,0 +1,49 @@
+{% if page.meta.comments %}
+    <h2 id="__comments">{{ lang.t("meta.comments") }}</h2>
+    <!-- Insert generated snippet here -->
+    <script src="https://giscus.app/client.js"
+        data-repo="ros-mobile-robots/diffbot"
+        data-repo-id="MDEwOlJlcG9zaXRvcnkyMjQ3MTIzNDk="
+        data-category="Ideas"
+        data-category-id="MDE4OkRpc2N1c3Npb25DYXRlZ29yeTMyMDI1NTEz"
+        data-mapping="pathname"
+        data-strict="0"
+        data-reactions-enabled="1"
+        data-emit-metadata="1"
+        data-input-position="top"
+        data-theme="preferred_color_scheme"
+        data-lang="en"
+        data-loading="lazy"
+        crossorigin="anonymous"
+        async>
+    </script>
+    <!-- Synchronize Giscus theme with palette -->
+    <script>
+    var giscus = document.querySelector("script[src*=giscus]")
+
+    /* Set palette on initial load */
+    var palette = __md_get("__palette")
+    if (palette && typeof palette.color === "object") {
+        var theme = palette.color.scheme === "slate" ? "dark" : "light"
+        giscus.setAttribute("data-theme", theme) 
+    }
+
+    /* Register event handlers after documented loaded */
+    document.addEventListener("DOMContentLoaded", function() {
+        var ref = document.querySelector("[data-md-component=palette]")
+        ref.addEventListener("change", function() {
+        var palette = __md_get("__palette")
+        if (palette && typeof palette.color === "object") {
+            var theme = palette.color.scheme === "slate" ? "dark" : "light"
+
+            /* Instruct Giscus to change theme */
+            var frame = document.querySelector(".giscus-frame")
+            frame.contentWindow.postMessage(
+            { giscus: { setConfig: { theme } } },
+            "https://giscus.app"
+            )
+        }
+        })
+    })
+    </script>
+{% endif %}