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‎_docs/tutorials/advanced/zephyr_emulator/index.md‎

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@@ -56,52 +56,32 @@ ros2 run micro_ros_setup build_firmware.sh
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```
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Now you have a Zephyr + micro-ROS app ready to run on your own computer.
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Notice that in this case, the steps of flashing the firmware and running the micro-ROS app go together
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Notice that in this case, the steps of flashing the firmware and running the micro-ROS app go together.
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## Flashing the firmware
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Now you can run the flash step by means of the flashing command:
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```bash
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# Flash/run step
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ros2 run micro_ros_setup flash_firmware.sh
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```
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Notice that this command also has the effect of running the micro-ROS node.
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{% include first_application_common/agent_creation.md %}
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## Creating the micro-ROS agent
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## Running the micro-ROS app
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The micro-ROS app is now ready to be connected to a micro-ROS agent to start talking with the rest of the ROS 2
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world.
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At this point, you have both the client and the agent correctly installed in your host machine.
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To do that, let's open a new command line and create a micro-ROS agent
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(remember sourcing the ROS 2 and micro-ROS installations):
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To give micro-ROS access to the ROS 2 dataspace, run the agent:
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```bash
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# Download micro-ROS-Agent packages
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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ros2 run micro_ros_setup create_agent_ws.sh
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# Run a micro-ROS agent
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ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
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```
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Now, let's build the agent packages and, when this is done, source the installation:
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## Flashing the firmware
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Finally, in order to run the micro-ROS node inside of the Zephyr RTOS emulator,
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open a new command shell and execute the flash step by means of the flashing command:
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```bash
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# Build step
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colcon build
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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```
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## Running the micro-ROS app
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At this point, you have both the client and the agent correctly installed in your host machine.
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To start micro-ROS, you just need to run the agent:
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```bash
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# Run a micro-ROS agent
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ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
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# Flash/run step
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ros2 run micro_ros_setup flash_firmware.sh
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```
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{% include first_application_common/test_app_host.md %}
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```
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user@user:~$ ./firmware/build/zephyr/zephyr.exe
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*** Booting Zephyr OS build zephyr-v2.2.0-492-gc73cb85b4ae9 ***
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UDP mode => ip: 127.0.0.1 - port: 8888
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Ping send seq 1711620172_1742614911 <---- This micro-ROS node sends a ping with ping ID "1711620172" and node ID "1742614911"
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Pong for seq 1711620172_1742614911 (1) <---- The first mate pongs my ping
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Pong for seq 1711620172_1742614911 (2) <---- The second mate pongs my ping

‎_docs/tutorials/core/first_application_linux/index.md‎

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@@ -20,7 +20,7 @@ ros2 run micro_ros_setup create_firmware_ws.sh host
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Once the command is executed, a folder named `firmware` must be present in your workspace.
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This step is in charge, among other things, of creating a set of micro-ROS apps for Linux, that are located at
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This step is in charge, among other things, of downloading a set of micro-ROS apps for Linux, that are located at
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`src/uros/micro-ROS-demos/rcl`.
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Each app is represented by a folder containing the following files:
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At this point, you have both the client and the agent correctly installed in your host machine.
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To start micro-ROS, first run the agent:
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To give micro-ROS access to the ROS 2 dataspace, run the agent:
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```bash
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# Run a micro-ROS agent
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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# Run a micro-ROS agent
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ros2 run micro_ros_demos_rcl ping_pong
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# Run a micro-ROS node
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ros2 run micro_ros_demos_rclc ping_pong
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```
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{% include first_application_common/test_app_host.md %}
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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ros2 run micro_ros_demos_rcl ping_pong
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ros2 run micro_ros_demos_rclc ping_pong
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```
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As soon as all micro-ROS nodes are up and connected to the micro-ROS agent you will see them interacting:
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```
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user@user:~$ ros2 run micro_ros_demos_rcl ping_pong
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UDP mode => ip: 127.0.0.1 - port: 8888
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user@user:~$ ros2 run micro_ros_demos_rclc ping_pong
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Ping send seq 1711620172_1742614911 <---- This micro-ROS node sends a ping with ping ID "1711620172" and node ID "1742614911"
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Pong for seq 1711620172_1742614911 (1) <---- The first mate pongs my ping
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Pong for seq 1711620172_1742614911 (2) <---- The second mate pongs my ping

‎_docs/tutorials/core/first_application_rtos/freertos.md‎

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Once the command is executed, a folder named `firmware` must be present in your workspace.
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This step is in charge, among other things, of creating a set of micro-ROS apps for the specific platform you are
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This step is in charge, among other things, of downloading a set of micro-ROS apps for the specific platform you are
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addressing.
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In the case of FreeRTOS, these are located at `firmware/freertos_apps/apps`.
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Each app is represented by a folder containing the following files:

‎_docs/tutorials/core/first_application_rtos/nuttx.md‎

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Once the command is executed, a folder named `firmware` must be present in your workspace.
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This step is in charge, among other things, of creating a set of micro-ROS apps for the specific platform you are
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This step is in charge, among other things, of downloading a set of micro-ROS apps for the specific platform you are
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addressing.
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In the case of NuttX, these are located [here](https://github.com/micro-ROS/apps/tree/foxy/examples).
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Each app is represented by a folder containing the following files:
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* A list of the available applications will appear. You need to find: `micro-ROS Ping-Pong` and press the space bar to add it.
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* Navigate to the bottom menu with the left and right arrows, and click on the `Exit` button.
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* When you're back to the `Application Configuration` menu, go to `micro-ROS ---> Transport (UDP transport)`.
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* A list of the available transports will appear. You need to go to `Serial transport` and press the space bar to add it. After that, you'll be automatically redirected to the previous menu.
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* A list of the available transports will appear. You need to go to `Serial transport` and press the space bar to set the Serial port as micro-ROS transport. After that, you'll be automatically redirected to the previous menu.
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* Navigate to the bottom menu with the left and right arrows, and click on the `Save` button.
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* You will be asked if you want to save your new `.config` configuration, and you need to click `Ok`, and then `Exit`.
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* Finally, push three times the `Esc` key to close the menu.
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At this point, you have both the client and the agent correctly installed.
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To start micro-ROS, you first need to run the agent:
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To give micro-ROS access to the ROS 2 dataspace, run the agent:
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```bash
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# Run a micro-ROS agent
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***TIP:** you can use this command to find your serial device name: `ls /dev/serial/by-id/*`. Select the one that starts with `usb-NuttX`.*
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From inside the Minicom application, press three times the `Enter` key. Once you enter the Minicom command line, type:
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From inside the Minicom application, press three times the `Enter` key until Nuttx Shell (NSH) appears.
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Once you enter the NSH command line, type:
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```bash
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uros_pingpong

‎_includes/first_application_common/agent_creation.md‎

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```bash
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# Build step
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colcon build
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ros2 run micro_ros_setup build_agent.sh
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source install/local_setup.bash
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```

‎_includes/first_application_common/build_system.md‎

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## Installing ROS 2 and the micro-ROS build system
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First of all, install **ROS 2 Foxy FitzRoy** on your Ubuntu 18.04 LTS computer.
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First of all, install **ROS 2 Foxy FitzRoy** on your Ubuntu 20.04 LTS computer.
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To do so from binaries, via Debian packages, follow the instructions detailed
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[here](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/).
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Alternatively, you can use a docker container with a fresh ROS 2 foxy installation. The minimum docker that serves
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the purpose is the image run by the command:
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[here](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/).
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***TIP:** Alternatively, you can use a docker container with a fresh ROS 2 Foxy installation. The one that serves
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the purpose is the container run by the command:*
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```bash
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docker pull ros:foxy
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docker run -it --net=host ros:foxy
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```
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Once you have a ROS 2 installation in the computer, follow these steps to install the micro-ROS build system:
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source install/local_setup.bash
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***TIP:** if you are familiar with Docker containers, this image may be useful:
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[micro-ros:base](https://github.com/micro-ROS/docker/blob/dashing/base/Dockerfile)*
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These instructions will setup a workspace with a ready-to-use micro-ROS build system.
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This build system is in charge of downloading the required cross-compilation tools and building the apps for the
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required platforms.
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toolchains for the specific hardware platform. Among these repositories, it will also download a collection of ready
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to use micro-ROS apps.
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* **Configure step:** In this step, the user can select which app is going to be cross-compiled by the toolchain.
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Some other options, such as transport, agent address or port will be also selected in this step.
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Some other options, such as transport, agent's IP address/port (for UDP transport) or device ID (for serial connections) will be also selected in this step.
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* **Build step:** Here is where the cross-compilation takes place and the platform-specific binaries are generated.
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* **Flash step:** The binaries generated in the previous step are flashed onto the hardware platform memory,
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in order to allow the execution of the micro-ROS app.
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Further information about micro-ROS build system can be found
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[here](https://github.com/micro-ROS/micro-ros-build/tree/dashing/micro_ros_setup).
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## Creating a new firmware space
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## Creating a new firmware workspace
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Once the build system is installed, let's create a firmware workspace that targets all the required code and tools:
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Once the build system is installed, let's create a firmware workspace that targets all the required code and tools:

‎_includes/first_application_common/config.md‎

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## Configuring the firmware
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The configuration step will set up the main micro-ROS options and select the required application.
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The configuration step will set up the main micro-ROS options and select the desired application.
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It can be executed with the following command:
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```bash
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```
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The options available for this configuration step are:
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- `--transport` or `-t`: `udp`, `tcp`, `serial` or any hardware-specific transport label
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- `--transport` or `-t`: `udp`, `serial` or any hardware-specific transport label
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- `--dev` or `-d`: agent string descriptor in a serial-like transport
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- `--ip` or `-i`: agent IP in a network-like transport
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- `--port` or `-p`: agent port in a network-like transport

‎_includes/first_application_common/run_app.md‎

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At this point, you have both the client and the agent correctly installed.
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To start micro-ROS, you just need to run the agent:
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To give micro-ROS access to the ROS 2 dataspace, you just need to run the agent:
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```bash
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# Run a micro-ROS agent

‎_includes/first_application_common/test_app_rtos.md‎

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it is possible to see their output like this micro-ROS for Linux app:
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```
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UDP mode => ip: 127.0.0.1 - port: 8888
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Ping send seq 1711620172_1742614911 <---- This micro-ROS node sends a ping with ping ID "1711620172" and node ID "1742614911"
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Pong for seq 1711620172_1742614911 (1) <---- The first mate pongs my ping
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Pong for seq 1711620172_1742614911 (2) <---- The second mate pongs my ping

‎_includes/first_application_common/zephyr_common.md‎

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Once the command is executed, a folder named `firmware` must be present in your workspace.
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This step is in charge, among other things, of creating a set of micro-ROS apps for the specific platform you are
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This step is in charge, among other things, of downloading a set of micro-ROS apps for the specific platform you are
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addressing.
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In the case of Zephyr, these are located at `firmware/zephyr_apps/apps`.
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Each app is represented by a folder containing the following files:

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