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2121## Concept Documentation
2222
23- - Predictable scheduling and execution: [ real-time_executor] ( /docs/concepts/real-time_executor/ )
24- - System modes and system hierarchy: [ system_modes] ( /docs/concepts/system_modes/ )
25- - Embedded transform (tf) library: [ embedded_tf] ( /docs/concepts/embedded_tf/ )
23+ - Predictable scheduling and execution: [ real-time_executor] ( /docs/concepts/client_library/ real-time_executor/ )
24+ - System modes and system hierarchy: [ system_modes] ( /docs/concepts/client_library/ system_modes/ )
25+ - Embedded transform (tf) library: [ embedded_tf] ( /docs/concepts/client_library/ embedded_tf/ )
2626 - Reference hardware: [ https://github.com/microROS/hardware ] ( https://github.com/microROS/hardware )
2727 - Build infrastructure for embedded development using docker: [ https://github.com/microROS/docker ] ( https://github.com/microROS/docker )
28- - FIWARE interoperability: [ FIROS2] ( /docs/concepts/FIROS2 )
28+ - FIWARE interoperability: [ FIROS2] ( /docs/concepts/middleware/ FIROS2 )
2929
3030## Source Code Repositories
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