Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

pablogs9 · pablogs9 · commit fe539587e270 · 2020-03-17T09:23:43.000+01:00
Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Update _docs/tutorials/basic/getting_started_olimex_freertos/index.md

Co-Authored-By: Julián Bermúdez Ortega &lt;julianbermudez@eprosima.com&gt;
Minor fixes
diff --git a/_docs/tutorials/basic/getting_started_olimex_freertos/index.md b/_docs/tutorials/basic/getting_started_olimex_freertos/index.md
@@ -22,35 +22,16 @@ This tutorial uses the following hardware:
 | USB-Serial Cable Female | [Link](https://www.olimex.com/Products/Components/Cables/USB-Serial-Cable/USB-Serial-Cable-F/) |
 
 
-Olimex STM32-E407 features a STM32F407 Cortex-M4 microcontroller. It has 1MB Flash and 196 kB RAM of which 64 kB are core coupled (CCM SRAM). Other features of the chip are:
-
-- Three 12 bits @ 2.4MHz ADC
-- Two 12 bits DAC
-- USB OTG FS
-- USB OTG HS
-- Ethernet
-- 14 timers
-- 3 SPI
-- 3 I2C
-- 2 CAN
-- 114 GPIOs
-
-Most of these peripherals are mapped into Olimex board headers.
-
-The micro-ROS + FreeRTOS port of this evaluation board relies on a STM32CubeMX generated project, so HAL and low-level configuration can be tuned to specific requirements.
-
-The out-of-the-box HAL configuration included in the port packages configures the minimal communication and debugging peripheral required for micro-ROS.
-
 ## Adding a new micro-ROS app
 
-First of all make sure that you have a **ROS 2 Dashing** installation.
+First of all make sure that you have a **ROS 2** installation.
 
 ***TIP:** if you are familiar with Docker containers, this image may be useful: [ros:dashing](https://hub.docker.com/layers/ros/library/ros/dashing/images/sha256-b796c14ea663537129897769aa6c715a851ca08dffd4875ef2ecaa31a4dbd431?context=explore)*
 
-On the **ROS 2 Dashing** installation open a command line and follow these steps:
+On the **ROS 2** installation open a command line and follow these steps:
 
 ```bash
-# Source the ROS 2 Dashing installation
+# Source the ROS 2 installation
 source /opt/ros/$ROS_DISTRO/setup.bash
 
 # Create a workspace and download the micro-ROS tools
@@ -68,7 +49,7 @@ source install/local_setup.bash
 ```
 
 
-Now, lets create a firmware workspace that targets all the required code and tools for Olimex development board and FreeRTOS:
+Now, let's create a firmware workspace that targets all the required code and tools for Olimex development board and FreeRTOS:
 
 ```bash
 # Create step
@@ -77,12 +58,13 @@ ros2 run micro_ros_setup create_firmware_ws.sh freertos olimex-stm32-e407
 
 Now you have all the required tools to crosscompile micro-ROS and FreeRTOS for Olimex STM32-E407 development board. At this point, you must know that the micro-ROS build system is a four-step workflow:
 
+<!-- TODO (pablogs9): Remove and link to build-system tutorial when done -->
 1. **Create**: retrieves all the required packages for a specific RTOS and hardware platform.
 2. **Configure**: configures the downloaded packages with options such as the micro-ROS application, the selected transport layer or the micro-ROS agent IP address (in network transports).
 3. **Build**: generates a binary file ready for being loaded in the hardware.
 4. **Flash**: load the micro-ROS software in the hardware.
 
-Micro-ROS apps for Olimex + FreeRTOS are located at `firmware/freertos_apps/apps`. In order to create a new application, create a new folder containing two files: the app code and the RMW configuration.
+micro-ROS apps for Olimex + FreeRTOS are located at `firmware/freertos_apps/apps`. In order to create a new application, create a new folder containing two files: the app code and the RMW configuration.
 
 ```bash
 # Creating a new app
@@ -92,11 +74,11 @@ cd my_brand_new_app
 touch app.c app-colcon.meta
 ```
 
-For this example we are going to create a ping pong app where a node sends a ping package with a unique identifier using a publisher and the same package is received by a pong subscriber. The node will also answer to 
+For this example we are going to create a ping pong app where a node sends a ping package with a unique identifier using a publisher and the same package is received by a pong subscriber. The node will also answer to:
 
 ![pingpong](http://www.plantuml.com/plantuml/png/ZOwnIWGn48RxFCNFzSkoUG2vqce5jHEHi1dtWZkPa6GByNntavZY10yknMJu-ORlFwPiOjvvK-d3-M2YOR1uMKvHc93ZJafvoMML07d7h1NAE-DPWblg_na8vnwEx9OeZmzFOt1-BK7AzetJciPxCfRYVw1S0SbRLBEg1IpXPIvpUWLCmZpXIm6BS3addt7uQpu0ZQlxT1MK2r0g-7sfqbsbRrVfMrMwgbev3CDTlsqJGtJhATUmSMrMg5TKwaZUxfcttuMt7m00)
 
-First of all lets configure the RMW with the required static memory. The `app-colcon.meta` should look like:
+To start creating this app, lets configure the RMW with the required static memory. You can read more about RMW and Micro XRCE-DDS Configuration [here](/docs/tutorials/basic/microxrcedds_rmw_configuration/) The `app-colcon.meta` should look like:
 
 ```
 {
@@ -115,7 +97,7 @@ First of all lets configure the RMW with the required static memory. The `app-co
 }
 ```
 
-On the other hand, `app.c` should look like the following code:
+Meanwhile `app.c` should look like the following code:
 
 ```c
 #include <allocators.h>
@@ -275,7 +257,7 @@ void appMain(void *argument)
 }
 ```
 
-Once the new folder is created, lets configure our new app with a serial transport on UART 3:
+Once the new folder is created, let's configure our new app with a serial transport on UART 3:
 
 ```bash
 # Configure step
@@ -289,7 +271,7 @@ When the configuring step ends, just build the firmware:
 ros2 run micro_ros_setup build_firmware.sh
 ```
 
-Once the build has successfully ended, lets power and connect the board.  First, connect Olimex ARM-USB-TINY-H JTAG programmer to the board's JTAG port:
+Once the build has successfully ended, let's power and connect the board.  First, connect Olimex ARM-USB-TINY-H JTAG programmer to the board's JTAG port:
 
 <img width="400" style="padding-right: 25px;" src="https://raw.githubusercontent.com/micro-ROS/micro-ROS.github.io/34c7da536776145693f46e178a2c0f09dcde973e/_docs/tutorials/basic/getting_started_olimex_freertos/2.jpg">
 
@@ -305,23 +287,23 @@ ros2 run micro_ros_setup flash_firmware.sh
 ```
 ## Running the micro-ROS app
 
-The micro-ROS app is ready to connect to a micro-ROS Agent and start talking with the rest of the ROS 2 world.
+The micro-ROS app is ready to connect to a micro-ROS-Agent and start talking with the rest of the ROS 2 world.
 
 First of all, create and build a micro-ROS agent:
 
 ```bash
-# Download micro-ROS Agent packages
+# Download micro-ROS-Agent packages
 ros2 run micro_ros_setup create_agent_ws.sh
 
-# Build micro-ROS Agent packages, this may take a while.
+# Build micro-ROS-Agent packages, this may take a while.
 colcon build
 ```
 
 Then connect the Olimex development board to the computer using the usb to serial cable:
 
 <img width="400" style="padding-right: 25px;" src="https://raw.githubusercontent.com/micro-ROS/micro-ROS.github.io/feature/olimex_freertos_tutorial/_docs/tutorials/basic/getting_started_olimex_freertos/5.jpg">
 
-***TIP:** Color codes are applicable to [this cable](https://www.olimex.com/Products/Components/Cables/USB-Serial-Cable/USB-Serial-Cable-F/). Make sure to match Olimex Rx with Cable Tx and viceversa. Rememeber GND!*
+***TIP:** Color codes are applicable to [this cable](https://www.olimex.com/Products/Components/Cables/USB-Serial-Cable/USB-Serial-Cable-F/). Make sure to match Olimex Rx with Cable Tx and vice-versa. Remember GND!*
 
 Then run the agent:
 
@@ -332,7 +314,7 @@ ros2 run micro_ros_agent micro_ros_agent serial --dev [device]
 
 ***TIP:** you can use this command to find your serial device name: `ls /dev/serial/by-id/*`*
 
-And finally, lets check that everything is working. We are going to listen to ping topic to check whether the Ping Pong node is publishing its own pings
+And finally, let's check that everything is working. We are going to listen to ping topic to check whether the Ping Pong node is publishing its own pings
 
 ```bash
 # Subscribe to micro-ROS ping topic
@@ -355,14 +337,14 @@ frame_id: '730417256_1085377743'
 ---
 ```
 
-On another command line, lets subscribe to the pong topic
+On another command line, let's subscribe to the pong topic
 
 ```bash
 # Subscribe to micro-ROS pong topic
 ros2 topic echo /microROS/pong
 ```
 
-At this point, we know that our app is publishing pings. Lets check if it also answer to someone else pings:
+At this point, we know that our app is publishing pings. Let's check if it also answers to someone else pings:
 
 ```bash
 # Send a fake ping
@@ -402,14 +384,6 @@ frame_id: fake_ping
 ```
 
 
-
-
-
-
-
-
-
-
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