Different adjustments. (#251)

FranFin · pablogs9 · web-flow · commit b256a1b3a5ea · 2020-12-02T16:58:05.000+01:00
* Different adjustments.

* Fix links

Co-authored-by: Pablo Garrido &lt;pablogs9@gmail.com&gt;
diff --git a/_data/docs.yml b/_data/docs.yml
@@ -7,7 +7,6 @@
    - overview/ROS_2_feature_comparison
    - overview/docker_ci_status
    - overview/users_and_clients
-   - overview/fiware_interoperability
 
 
 - title: Client Library
@@ -43,6 +42,10 @@
    - concepts/benchmarking/results
    - concepts/benchmarking/memo_prof
 
+- title: Interoperability with FIWARE
+  docs:
+   - concepts/fiware_interoperability
+
 - title: Core Tutorials
   docs:
    - tutorials/core/overview
diff --git a/_docs/concepts/benchmarking/memo_prof/index.md b/_docs/concepts/benchmarking/memo_prof/index.md
@@ -1,7 +1,6 @@
 ---
 title: Memory profiling
 redirect_from: /memo_prof/
-redirect_from: /concepts/memo_prof/
 permalink: /docs/concepts/benchmarking/memo_prof/
 ---
 
diff --git a/_docs/concepts/fiware_interoperability/imgs/soss.png b/_docs/concepts/fiware_interoperability/imgs/soss.png
diff --git a/_docs/concepts/fiware_interoperability/index.md b/_docs/concepts/fiware_interoperability/index.md
@@ -1,6 +1,6 @@
 ---
 title: Interoperability with FIWARE
-permalink: /docs/overview/fiware_interoperability/
+permalink: /docs/concepts/fiware_interoperability/
 ---
 
 ## Motivation
@@ -33,7 +33,7 @@ To accomplish this, two different approaches can be taken:
 While the first approach might result in a more lightweight tool, it has several flaws, for instance a more difficult maintenance and the incapability of communicating with any other middleware, rather than ROS2 or micro-ROS.
 On the other hand, using an integration service platform, such as [SOSS](https://github.com/eProsima/soss_v2), enables automatically the possibility of communicating with a wide (and growing) set of middlewares, if their System Handle implementation is available.
 
-## SOSS: System Of Systems Synthesizer
+## SOSS: System-Of-Systems-Synthesizer
 
 **SOSS** addresses the task of providing a common interface for communicating software platforms that speak different languages.
 It is composed of a **core** library, which defines a set of abstract interfaces and provides some utility classes to form a plugin-based framework.
@@ -50,7 +50,7 @@ This common representation is provided, user-wise, using IDL definitions, which
 
 <img width="600" src="imgs/soss.png">
 
-## SOSS-FIWARE system handle
+## SOSS-FIWARE System Handle
 
 The [FIWARE System Handle](https://github.com/eProsima/SOSS-FIWARE/tree/feature/xtypes-support) allows bringing information from and to FIWARE's Context Broker into the SOSS world.
 This [System Handle](https://soss.docs.eprosima.com/en/latest/sh_creation.html) is configured and launched in the same way as any SOSS System Handle.
diff --git a/_docs/overview/ROS_2_feature_comparison/index.md b/_docs/overview/ROS_2_feature_comparison/index.md
@@ -68,7 +68,7 @@ Support for "bare-metal" microcontrollers | <span class="status_flag">&#10003;</
 Continuous Integration | <span class="status_flag">&#10003;&#8728;</span> | Currently, the CI for micro-ROS is distributed to GitHub and GitLab. *Until the end of 2020, all CI should be moved migrated completely to the new CI actions of GitHub.* Please note that those packages that are released for standard ROS 2 are also built and tested on [build.ros2.org](http://build.ros2.org/).
 Documentation | <span class="status_flag">&#10003;</span> | High-level documentation at [micro-ros.github.io](https://micro-ros.github.io/). For detailed information please consult the README.md files in the relevant micro-ROS repositories at [github.com/micro-ROS/](https://github.com/micro-ROS/). For information on the middleware implementation, take a look at the [Micro XRCE-DDS documentation](https://micro-xrce-dds.docs.eprosima.com/en/latest/).
 Peer-to-peer functionality | <span class="status_flag">&#10003;&#8728;</span> | Prototypical peer-to-peer functionality implemented over broadcast. No QoS available for the moment. *Roadmap: improve prototype to achieve true point-to-point connection.*
-Memory footprint | <span class="status_flag">&#10003;</span> | A comprehensive profiling of the memory consumption of typical micro-ROS applications can be found [here](https://micro-ros.github.io/docs/concepts/memo_prof/).
+Memory footprint | <span class="status_flag">&#10003;</span> | A comprehensive profiling of the memory consumption of typical micro-ROS applications can be found [here](/docs/concepts/benchmarking/memo_prof/).
 
 Below, you can find the legend of the symbols used in the tables above.
 
diff --git a/_docs/overview/hardware/index.md b/_docs/overview/hardware/index.md
@@ -30,7 +30,7 @@ permalink: /docs/overview/hardware/
 
 Micro-ROS aims to **bring ROS 2 to a wide set of microcontrollers** to allow having first-class ROS 2 entities in the embedded world.
 
-The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints. Since memory usage in micro-ROS is a complex matter we provide a [complete article](https://micro-ros.github.io/docs/concepts/memo_prof/) describing it and a tutorial on [how to tune the memory consuption](https://micro-ros.github.io/docs/tutorials/core/microxrcedds_rmw_configuration/) in the micro-ROS middleware. 
+The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints. Since memory usage in micro-ROS is a complex matter we provide a [complete article](/docs/concepts/memo_prof/) describing it and a tutorial on [how to tune the memory consuption](https://micro-ros.github.io/docs/tutorials/core/microxrcedds_rmw_configuration/) in the micro-ROS middleware. 
 
 In general micro-ROS will need MCUs that have tens of kilobytes of RAM memory and communication peripherals that enable the micro-ROS [Client to Agent communication](https://micro-ros.github.io//docs/overview/features/).
 
diff --git a/_includes/docs_nav.html b/_includes/docs_nav.html
@@ -19,6 +19,9 @@
   {% if page.path contains "_docs/concepts" and section.title == "Benchmarking" %}
     {% assign should_show_this_menu = true %}
   {% endif %}
+  {% if page.path contains "_docs/concepts" and section.title == "Interoperability with FIWARE" %}
+    {% assign should_show_this_menu = true %}
+  {% endif %}
   {% if page.path contains "_docs/tutorials" and section.title contains "Tutorials" %}
     {% assign should_show_this_menu = true %}
   {% endif %}
