Consistent spelling of ROS 2 (instead of ROS2) and microcontroller (no hyphen).

ralph-lange · ralph-lange · commit 511955d9c40c · 2019-08-02T20:56:08.000+02:00
Signed-off-by: Ralph Lange (CR/AEE1) &lt;ralph.lange@de.bosch.com&gt;
diff --git a/_config.yml b/_config.yml
@@ -1,7 +1,7 @@
 # Site settings
 title: micro-ROS
 description: >
-  ROS2 for micro-controllers
+  ROS 2 for microcontrollers
 lang: en-US
 
 baseurl: "" # the subpath of your site, e.g. /blog/
diff --git a/_docs/concepts/client_library/decision_paper/index.md b/_docs/concepts/client_library/decision_paper/index.md
@@ -46,7 +46,7 @@ From the past discussions and developments in 2018, we assume that a [rosserial]
 
 In the [EU project OFERA](http://ofera.eu/), a list of high-level requirements to the whole micro-ROS stack including the client library has been compiled in the Deliverable [D1.7 Reference Scenarios and Technical System Requirements Definition](http://ofera.eu/storage/deliverables/OFERA_D1.7_Requirements.pdf). Import requirements immediately linked to the client library are:
 
-* ROS2 lifecycle: micro-ROS nodes should support the node lifecycle defined for ROS2 nodes.
+* ROS 2 lifecycle: micro-ROS nodes should support the node lifecycle defined for ROS 2 nodes.
 * Dynamic component parameters: micro-ROS shall provide mechanisms for dynamic management of component parameters, compatible with ROS mechanisms.
 * Time precision: Clock synchronization between main micro-processor and MCU should be precise, with precision not less than 1ms.
 * No-copy: Communication between nodes on the same MCU should be effective (no-copy).
@@ -76,7 +76,7 @@ Questions:
 
 Only very basic concepts (node, subscription and publisher) implemented so far. Whole library has just 500 LoC in sum.
 
-Has OSRF plans for it in the midterm? They have mentioned it on the roadmap, [ROS2 roadmap](https://github.com/micro-ROS/rclc/tree/feature/api_documentation).
+Has OSRF plans for it in the midterm? They have mentioned it on the roadmap, [ROS 2 roadmap](https://github.com/micro-ROS/rclc/tree/feature/api_documentation).
 
 ## Dynamic Memory Management in ROS 2
 
@@ -109,7 +109,7 @@ For curiosity, the numbers for Fast-RTPS:
 
 ### Current work on ROS 2
 
-Currently there is an active interest in making ROS2 a real "real time" platform. These interest have strive to a set of developments regarding the amount of dynamic memory used along the full stack. From eProsima side they are making a big effort changing Fast RTPS dynamic memory to a static system. This eProsima approach aligns with the idea of two-steps: 1) reserve all memory needed and then 2) work with the pre-allocated memory and avoid new allocations.
+Currently there is an active interest in making ROS 2 a real "real time" platform. These interest have strive to a set of developments regarding the amount of dynamic memory used along the full stack. From eProsima side they are making a big effort changing Fast RTPS dynamic memory to a static system. This eProsima approach aligns with the idea of two-steps: 1) reserve all memory needed and then 2) work with the pre-allocated memory and avoid new allocations.
 
 To develop this mechanism currently there are to main changes, all regarding STL containers:
 
diff --git a/_docs/concepts/client_library/embedded_tf/index.md b/_docs/concepts/client_library/embedded_tf/index.md
@@ -33,7 +33,7 @@ The Embedded TF design is documented at:  [github.com/microROS/geometry2/blob/ro
 
 ## Implementation of tf2_filter
 
-Implementation of tf2_filter for ROS2 and micro-ROS can be found at:  [github.com/microROS/geometry2/blob/ros2/tf2_filter/](https://github.com/microROS/geometry2/blob/ros2/tf2_filter/).
+Implementation of tf2_filter for ROS 2 and micro-ROS can be found at:  [github.com/microROS/geometry2/blob/ros2/tf2_filter/](https://github.com/microROS/geometry2/blob/ros2/tf2_filter/).
 
 
 ## Roadmap
diff --git a/_docs/concepts/middleware/FIROS2/index.md b/_docs/concepts/middleware/FIROS2/index.md
@@ -11,26 +11,26 @@ This subsection will explain all the design alternatives for the interoperabilit
 
 ### Mechanisms for the deserialisation of incoming data in the transformation library
 
-FIROS2 requires transformation libraries to convert ROS2 messages into FIWARE NGSIv2 messages and the other way around.
+FIROS2 requires transformation libraries to convert ROS 2 messages into FIWARE NGSIv2 messages and the other way around.
 For each message, one transformation library is required by the integration service (FIROS2).
 
 ![image](http://www.plantuml.com/plantuml/svg/ZP712i8m38RlUOempuKvfrv49gYmap05BmCfhfs5hOMslhzjLuQYu1e8_E5Fyf4Mnb9jdtq77UCMhK8jseV5HcXsjq99uA9ZcA1xjQnEvmnxPWnjMIrzBK5giDpVvlXXF9RNNNNuRSqGf6f6guymr-sERHTDfU5AzzGJ39Rt2GkShJddQJeHBfyEj_o6YtQ75pRyWrkDS03XC8Hi1sW8ESeio1mtX0nT47AK3gDWil7_yW80)
 
-In the implementation of these transformation libraries, the user needs to be able to serialisation/deserialisation ROS2 messages.
+In the implementation of these transformation libraries, the user needs to be able to serialisation/deserialisation ROS 2 messages.
 Also, an NGSIv2 serialisation/deserialisation mechanism will be used.
 
-The FIROS2 package provides a standard NGSIv2 serialisation/deserialisation mechanisms, but ROS2 serialisation/deserialisation is not offered due to its dependencies with the message type.
+The FIROS2 package provides a standard NGSIv2 serialisation/deserialisation mechanisms, but ROS 2 serialisation/deserialisation is not offered due to its dependencies with the message type.
 
 For solving this issue, various methods to get it are proposed:
 
 #### Use serialisation/deserialisation method provided by the middleware layer
 
 This is currently the method used in micro-ROS - FIROS 2 integration.
 
-In this case, the transformation library will use user selected middleware interface to serialise/deserialise the bridged ROS2 messages.
+In this case, the transformation library will use user selected middleware interface to serialise/deserialise the bridged ROS 2 messages.
 This method requires to get the message typesupport for the bridged message type.
 This method is straightforward to implement as it does not require additional source code development.
-Also, the abstraction from the middleware implementation makes it more compatible with others ROS2 workspaces.
+Also, the abstraction from the middleware implementation makes it more compatible with others ROS 2 workspaces.
 
 This is a portion of code used in the transformation library implementation.
 
@@ -40,7 +40,7 @@ This is a portion of code used in the transformation library implementation.
     // Get type support
     const rosidl_message_type_support_t * type_support = rosidl_typesupport_cpp::get_message_type_support_handle<MESAGE_TYPE>();
 
-    // Convert to ROS2 serialized message
+    // Convert to ROS 2 serialized message
     rmw_serialized_message_t serialized_message;
     serialized_message.buffer = (char*)serialized_input->data;
     serialized_message.buffer_length = serialized_input->length;
@@ -62,7 +62,7 @@ Note the call to ROS 2 interface __rosidl_typesupport_cpp::get_message_type_supp
 
 #### Use serialisation/deserialisation method for an specific type support
 
-In this case, the transformation library will use one specific type support to serialise/deserialise the bridged ROS2 messages.
+In this case, the transformation library will use one specific type support to serialise/deserialise the bridged ROS 2 messages.
 In micro-ROS case, the implementation to be used will be rosidl_typesupport_microxrcedds.
 This method is trivial to develop as it does not require additional source code on the micro-ROS side.
 
@@ -71,7 +71,7 @@ This mechanism requires the user to have access to the typesupport API, which so
 
 #### Used serialisation/deserialisation method generated from IDL file
 
-In this case, transformation library will use generated code to serialise/deserialise the bridged ROS2 messages.
+In this case, transformation library will use generated code to serialise/deserialise the bridged ROS 2 messages.
 The generated code may be made using an IDL parser tool.
 In the micro-ROS case, Micro XRCE-DDS provides with Micro XRCE-DDS code generator, which accepts an IDL file as input and generates type code.
 This IDL files should correspond with those messages types the transformation is wanted.
@@ -80,8 +80,8 @@ Integration services uses this method, but it makes the development of the libra
 
 ![image](http://www.plantuml.com/plantuml/svg/bP8_2y8m4CNtV8f7tOIArd-R2DR1GGTT70eIqciRQ1D8qkzl4sr1iA0t11xlxjsF97lhk75jKxEQ2WUdOMHPEUJIa71IAwPqJeZGLQOoTPR2QDolXsESfZS8RvQao72dZM_mZH6unIbzB32XENN52baF8GrPoql20ZAluPtFgGIiGv855mvHfcwwDO9UcmfjC8ptsp2TYH1Z1rtrEbDzwX9V8P8HYDLl4Cb_4Ell49SHYCrl49V_8BPWZ8LxZkFTwvbOEDzo6UHgn5q7kHbnk-mzgTp_foS0)
 
-In the case of ROS2/micro-ROS workspaces, there are tools which generate those IDL files.
-The rosidl_gen package is the package micro-ROS/ROS2 could use to create IDL from ROS2 interfaces.
+In the case of ROS 2 / micro-ROS workspaces, there are tools which generate those IDL files.
+The rosidl_gen package is the package micro-ROS/ROS2 could use to create IDL from ROS 2 interfaces.
 
 ### Integration proposals
 
@@ -112,7 +112,7 @@ Each ROS 2 topic type should have a corresponding transformation library configu
 
 This approach is a specialisation of the following one, where all the configuration and transformation libraries are centralised in a single node.
 
-This proposal requires transformation library development, but the integration will be the same as a regular ROS2 node, so no micro-ROS specific development should be expected.
+This proposal requires transformation library development, but the integration will be the same as a regular ROS 2 node, so no micro-ROS specific development should be expected.
 
 **Architecture**
 
@@ -130,7 +130,7 @@ This approach would require more nodes on the network and individual configurati
 
 This approach is the one followed by micro-ROS, and it is limited due to current FIROS 2 implementation.
 
-This proposal requires transformation library development, but the integration will be the same as a regular ROS2 node, so no micro-ROS specific development should be expected.
+This proposal requires transformation library development, but the integration will be the same as a regular ROS 2 node, so no micro-ROS specific development should be expected.
 
 **Workflow**
 
@@ -195,7 +195,7 @@ sudo docker-compose up
 
 > **Note:** After this execution a FIWARE Orion server will be running at the localhost address and port 1026.
 
-1. **Build FIROS2 in a ROS2 workspace and run it**
+1. **Build FIROS2 in a ROS 2 workspace and run it**
 
 To compile FIROS2, micro-ROS Agent side set of packages will be used.
 
diff --git a/_docs/overview/comparison/index.md b/_docs/overview/comparison/index.md
@@ -18,9 +18,9 @@ Differences are:
 | Message format | ROS1 | CDR (from DDS) |
 | Communication links | UART | UART, SPI, IP (UDP), 6LowPAN, ... |
 | Communication protocol | Custom | XRCE-DDS (or any rmw implementation) |
-| Code Base | Independent implementation | Standard ROS2 stack up to RCL (RCLCPP coming) |
+| Code Base | Independent implementation | Standard ROS 2 stack up to RCL (RCLCPP coming) |
 | Node API | Custom rosserial API | RCL (soon RCLCPP) |
-| Callback execution | Sequential, in order of messages | Choice of ROS2 executors or MCU optimized executors |
-| Timers | Not included | Normal ROS2 timers |
+| Callback execution | Sequential, in order of messages | Choice of ROS 2 executors or MCU optimized executors |
+| Timers | Not included | Normal ROS 2 timers |
 | Time sync to host | Custom | NTP/PTP |
 | Lifecycle | Not supported | Partial, full coming |
diff --git a/_docs/overview/index.md b/_docs/overview/index.md
@@ -4,15 +4,15 @@ permalink: /docs/overview/
 redirect_from: /docs/
 ---
 
-[micro-ROS](https://cordis.europa.eu/project/rcn/213167_en.html) puts ROS2 onto microcontrollers, making them first class participants of the ROS 2 environment.
+[micro-ROS](https://cordis.europa.eu/project/rcn/213167_en.html) puts ROS 2 onto microcontrollers, making them first class participants of the ROS 2 environment.
 
 ## Tutorials
 
 See [Tutorial List](/docs/tutorials/).
 
 ## Architecture
 
-We're basically following the ROS2 architecture and make use of its middleware pluggability to use [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/), which is suitable for microcontrollers. Moreover, we use an RTOS (NuttX) instead of Linux. On microcontrollers many different RTOS's are used, so we also add an RTOS abstraction layer (AL), to make porting to other RTOS possible.
+We're basically following the ROS 2 architecture and make use of its middleware pluggability to use [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/), which is suitable for microcontrollers. Moreover, we use an RTOS (NuttX) instead of Linux. On microcontrollers many different RTOS's are used, so we also add an RTOS abstraction layer (AL), to make porting to other RTOS possible.
 
 ![](/img/micro-ROS_architecture.png)
 
diff --git a/_docs/tutorials/advanced/nuttx_getting_started/index.md b/_docs/tutorials/advanced/nuttx_getting_started/index.md
@@ -1347,7 +1347,7 @@ Then, we have the Olimex as subscriber, so we need to follow the same steps as w
 ## How to use  micro-ROS demo {#micro-ROS-demo-Olimex}
 
 In this demo, we will use the alpha version of micro-ROS for NuttX running under the Olimex-STM32-E407 board.
-With board running this demo we could create a ROS2 publisher or a ROS2 subscriber.
+With board running this demo we could create a ROS 2 publisher or a ROS 2 subscriber.
 The publisher creates and publishes as a topic a progressive count of integers (From 0 to 1000).
 The subscriber subscribes to that topic and shows the value of the number published.
 
@@ -1418,5 +1418,5 @@ If the publisher is running properly, you should see this on the board:
 So as a summary:
 - With this demo, you can run a publisher or subscriber in the Olimex Board.
 - You need to run an agent for each publisher or subscriber that you want to run.
-- You can create a ROS2 subscriber in the PC and receive the topic.
+- You can create a ROS 2 subscriber in the PC and receive the topic.
 - The topic that sends this example is an integer that goes from 0 to 1000.
diff --git a/_docs/tutorials/basic/getting_started/index.md b/_docs/tutorials/basic/getting_started/index.md
@@ -9,7 +9,7 @@ Table of contents
 
 *   [Running Micro XRCE-DDS example using prebuilt Docker](#Micro-XRCE-DDS-prebuilt-Docker)
 *   [Running micro-ROS example using prebuilt Docker](#micro-ROS-prebuilt-Docker)
-*   [Running rclc and rclcpp examples in your ROS2 workspace](#rclc-rclcpp-ROS2-ws)
+*   [Running rclc and rclcpp examples in your ROS 2 workspace](#rclc-rclcpp-ROS2-ws)
 
 ## Introduction
 
@@ -37,13 +37,13 @@ At docker repo, we have one folder for each.
 ----------------
 
 
-## Running rclc and rclcpp examples in your ROS2 workspace {#rclc-rclcpp-ROS2-ws}
+## Running rclc and rclcpp examples in your ROS 2 workspace {#rclc-rclcpp-ROS2-ws}
 
 There are also available examples that you could run building the code at your Linux or Windows computer.
 
 ### Previous step
 
-To run all the demonstrations, you need to set up the ROS2 environment and build all the required packages.
+To run all the demonstrations, you need to set up the ROS 2 environment and build all the required packages.
 Click [here](https://github.com/microROS/micro-ROS-doc) to read further about how to do this previous step.
 
 ### Package clusters
@@ -56,12 +56,12 @@ The repository contains the below packages clusters:
 
 ###### Int32_publisher
 
-The purpose of the package is to publish one of the most basic ROS2 messages and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
+The purpose of the package is to publish one of the most basic ROS 2 messages and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
 For each publication, the message value increases in one unit order to see in the subscriber side the message variations.
 
 ###### Int32_subscriber
 
-The purpose of the package is to subscribe to one of the most basic ROS2 messages and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
+The purpose of the package is to subscribe to one of the most basic ROS 2 messages and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
 
 ##### Run demonstration (Linux)
 
@@ -129,12 +129,12 @@ int32_subscriber_c.exe
 
 ###### String_publisher
 
-The purpose of the package is to publish a simple string ROS2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
+The purpose of the package is to publish a simple string ROS 2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
 For each publication, the message string number increases in one unit order to see in the subscriber side the message variations.
 
 ###### String_subscriber
 
-The purpose of the package is to subscribe to a simple string ROS2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
+The purpose of the package is to subscribe to a simple string ROS 2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
 
 ##### Run string demonstration (Linux)
 
@@ -202,7 +202,7 @@ string_subscriber_c.exe
 ###### complex_msg
 
 One of the purposes of the package is to demonstrate how typesupport code is generated for a complex message.
-Also, the generation of a complex ROS2 structure message is used to demonstrate how the different layers (rcl, typesupport and rmw) handle it.
+Also, the generation of a complex ROS 2 structure message is used to demonstrate how the different layers (rcl, typesupport and rmw) handle it.
 The message structure contains the following types:
 
 - All primitive data types.
@@ -211,12 +211,12 @@ The message structure contains the following types:
 
 ###### Complex_msg_publisher
 
-The purpose of the package is to publish a complex ROS2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
+The purpose of the package is to publish a complex ROS 2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
 For each publication, the message values increases in one unit order to see in the subscriber side the message variations.
 
 ###### Complex_msg_subscriber
 
-The purpose of the package is to subscribe to a complex ROS2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
+The purpose of the package is to subscribe to a complex ROS 2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.
 
 ##### Run complex demonstration (Linux)
 
@@ -282,7 +282,7 @@ complex_msg_subscriber_c.exe
 
 This purpose of the packages is to demonstrate Micro-ROS stack can be used in a real application scenario.
 In this demonstration, an altitude control system is simulated.
-The primary purpose of this is to demonstrate how Micro-ROS communicates with ROS2 nodes.
+The primary purpose of this is to demonstrate how Micro-ROS communicates with ROS 2 nodes.
 
 ##### Real application packages
 
@@ -312,7 +312,7 @@ The mission of this node is to read altitude values and send to the actuator eng
 It also publishes the status (OK, WARNING or FAILURE) as a DDS topic.
 The status depends on the altitude value.
 
-The node is built using the ROS2 middleware packages (rmw_fastrtps and rosidl_typesupport_fastrtps).
+The node is built using the ROS 2 middleware packages (rmw_fastrtps and rosidl_typesupport_fastrtps).
 
 It is meant to be running in on a regular PC, and it is directly connected to de DDS world.
 
@@ -375,7 +375,7 @@ Run the display node.
 ~/client_ws/install/rad0_display_c/lib/rad0_display_c/./rad0_display_c
 ```
 
-###### ROS2 nodes
+###### ROS 2 nodes
 
 ```bash
 ~/agent_ws/install/rad0_display_c/lib/rad0_display_c/./rad0_display_c
@@ -414,7 +414,7 @@ cd C:\C\install\Lib\rad0_display_c\
 rad0_display_c.exe
 ```
 
-###### ROS2 nodes
+###### ROS 2 nodes
 
 ```cmd
 cd C:\A\install\Lib\rad0_control_cpp\
diff --git a/_posts/2018-09-30-roscon.md b/_posts/2018-09-30-roscon.md
@@ -13,7 +13,7 @@ Several people from the micro-ROS team attended the conference and delivered tal
 
 Slides: [roscon.ros.org/2018/presentations/ROSCon2018_Towards_ROS2_uC_meta_crosscompilation.pdf](https://roscon.ros.org/2018/presentations/ROSCon2018_Towards_ROS2_uC_meta_crosscompilation.pdf)
 
-**Ralph Lange (Bosch): Mixed Real-Time Criticality with ROS2 - the Callback-group-level Executor (lightning talk)**
+**Ralph Lange (Bosch): Mixed Real-Time Criticality with ROS 2 - the Callback-group-level Executor (lightning talk)**
 
 <iframe src="https://player.vimeo.com/video/292707644?app_id=122963" width="560" height="315" frameborder="0" allow="autoplay; fullscreen" allowfullscreen></iframe>
 
diff --git a/_posts/2019-05-06-partners-at-ROS-I_EU_spring_19_workshop.md b/_posts/2019-05-06-partners-at-ROS-I_EU_spring_19_workshop.md
diff --git a/_posts/2019-06-03-micro-ROS_temperature_publisher_demo.md b/_posts/2019-06-03-micro-ROS_temperature_publisher_demo.md
diff --git a/index.html b/index.html
