diff --git a/doc/requirements.txt b/doc/requirements.txt
index 6a5e0dfdb1..3786949d70 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -7,3 +7,4 @@ sphinx!=1.6.6,!=1.6.7,!=2.1.0,>=1.6.2;python_version>='3.4' # BSD
 sphinxcontrib-apidoc>=0.2.0  # BSD
 sphinxcontrib-pecanwsme>=0.10.0 # Apache-2.0
 sphinxcontrib-seqdiag>=0.8.4 # BSD
+sphinxcontrib-svg2pdfconverter>=0.1.0 # BSD
diff --git a/doc/source/admin/gmr.rst b/doc/source/admin/gmr.rst
index 781cb8dae8..7b638492d3 100644
--- a/doc/source/admin/gmr.rst
+++ b/doc/source/admin/gmr.rst
@@ -48,11 +48,12 @@ Configuration
   Lists all the configuration options currently accessible via the CONF object
   for the current process.
 
+.. only:: html
 
-Sample GMR Report
------------------
+   Sample GMR Report
+   -----------------
 
-Below is a sample GMR report generated for ``ironic-api`` service:
+   Below is a sample GMR report generated for ``ironic-api`` service:
 
-.. include:: report.txt
-     :literal:
+   .. include:: report.txt
+        :literal:
diff --git a/doc/source/conf.py b/doc/source/conf.py
index 9e6be5247a..c49698d016 100644
--- a/doc/source/conf.py
+++ b/doc/source/conf.py
@@ -38,6 +38,7 @@ extensions = ['sphinx.ext.viewcode',
               'sphinxcontrib.pecanwsme.rest',
               'sphinxcontrib.seqdiag',
               'sphinxcontrib.apidoc',
+              'sphinxcontrib.rsvgconverter',
               'oslo_config.sphinxext',
               'oslo_config.sphinxconfiggen',
               'oslo_policy.sphinxext',
@@ -63,8 +64,7 @@ apidoc_excluded_paths = [
 apidoc_separate_modules = True
 
 repository_name = 'openstack/ironic'
-bug_project = '943'
-bug_tag = ''
+use_storyboard = True
 
 wsme_protocols = ['restjson']
 
@@ -126,6 +126,7 @@ else:
 # Output file base name for HTML help builder.
 htmlhelp_basename = 'Ironicdoc'
 
+latex_use_xindy = False
 
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title, author, documentclass
@@ -133,13 +134,16 @@ htmlhelp_basename = 'Ironicdoc'
 latex_documents = [
     (
         'index',
-        'Ironic.tex',
+        'doc-ironic.tex',
         u'Ironic Documentation',
         u'OpenStack Foundation',
         'manual'
     ),
 ]
 
+# Allow deeper levels of nesting for \begin...\end stanzas
+latex_elements = {'maxlistdepth': 10}
+
 # -- Options for seqdiag ------------------------------------------------------
 
 seqdiag_html_image_format = "SVG"
diff --git a/doc/source/configuration/index.rst b/doc/source/configuration/index.rst
index a21f4e558d..a5c518d5b2 100644
--- a/doc/source/configuration/index.rst
+++ b/doc/source/configuration/index.rst
@@ -11,6 +11,15 @@ situation.
   :maxdepth: 1
 
   Configuration Options <config>
-  Sample Config File <sample-config>
   Policies <policy>
-  Sample Policy File <sample-policy>
+
+.. only:: html
+
+   Sample files
+   ------------
+
+   .. toctree::
+      :maxdepth: 1
+
+      Sample Config File <sample-config>
+      Sample Policy File <sample-policy>
diff --git a/doc/source/index.rst b/doc/source/index.rst
index 176b4e9bb8..39d7481eeb 100644
--- a/doc/source/index.rst
+++ b/doc/source/index.rst
@@ -100,8 +100,10 @@ Release Notes
 
 `Release Notes <https://docs.openstack.org/releasenotes/ironic/>`_
 
-Indices and tables
-==================
+.. only:: html
 
-* :ref:`genindex`
-* :ref:`search`
+   Indices and tables
+   ==================
+
+   * :ref:`genindex`
+   * :ref:`search`
diff --git a/doc/source/install/configdrive.rst b/doc/source/install/configdrive.rst
index 05ff47727b..9840ed2d65 100644
--- a/doc/source/install/configdrive.rst
+++ b/doc/source/install/configdrive.rst
@@ -45,7 +45,7 @@ When used without the Compute service, the operator needs to create a configurat
 and provide the file or HTTP URL to the Bare Metal service.
 
 For the format of the configuration drive, Bare Metal service expects a
-``gzipped`` and ``base64`` encoded ISO 9660 [*]_ file with a ``config-2``
+``gzipped`` and ``base64`` encoded ISO 9660 [#]_ file with a ``config-2``
 label. The `openstack baremetal client
 <https://docs.openstack.org/python-ironicclient/latest/cli/osc_plugin_cli.html>`_
 can generate a configuration drive in the `expected format`_. Just pass a
@@ -134,7 +134,7 @@ the configuration drive and mount it, for example::
     mount $CONFIG_DEV /mnt/config
 
 
-.. [*] A configuration drive could also be a data block with a VFAT filesystem
+.. [#] A configuration drive could also be a data block with a VFAT filesystem
        on it instead of ISO 9660. But it's unlikely that it would be needed
        since ISO 9660 is widely supported across operating systems.
 
diff --git a/lower-constraints.txt b/lower-constraints.txt
index 10d98049f6..e81276f7c2 100644
--- a/lower-constraints.txt
+++ b/lower-constraints.txt
@@ -63,6 +63,7 @@ Sphinx==1.6.2
 sphinxcontrib-httpdomain==1.6.1
 sphinxcontrib-pecanwsme==0.10.0
 sphinxcontrib-seqdiag==0.8.4
+sphinxcontrib-svg2pdfconverter==0.1.0
 sphinxcontrib-websupport==1.0.1
 SQLAlchemy==1.0.10
 sqlalchemy-migrate==0.11.0
diff --git a/tox.ini b/tox.ini
index 14ec49fd11..2d430ad304 100644
--- a/tox.ini
+++ b/tox.ini
@@ -88,6 +88,15 @@ deps =
   -r{toxinidir}/driver-requirements.txt
 commands = sphinx-build -b html -W doc/source doc/build/html
 
+[testenv:pdf-docs]
+basepython = python3
+whitelist_externals = make
+deps = {[testenv:docs]deps}
+commands =
+  sphinx-build -W -b latex doc/source doc/build/pdf
+  make -C doc/build/pdf
+
+
 [testenv:api-ref]
 basepython = python3
 deps =