micro-ROS · FranFin · Apr 8, 2020 · Mar 19, 2020 · Mar 19, 2020 · Mar 19, 2020
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -0,0 +1,31 @@
+#-------------------------------------------------------------------------------------------------------------
+# Copyright (c) Microsoft Corporation. All rights reserved.
+# Licensed under the MIT License. See https://go.microsoft.com/fwlink/?linkid=2090316 for license information.
+#-------------------------------------------------------------------------------------------------------------
+
+# To fully customize the contents of this image, use the following Dockerfile instead:
+# https://github.com/microsoft/vscode-dev-containers/tree/v0.106.0/containers/ubuntu-18.04-git/.devcontainer/Dockerfile
+FROM mcr.microsoft.com/vscode/devcontainers/base:0-ubuntu-18.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+   && apt-get -y install --no-install-recommends build-essential ruby ruby-dev locales zlib1g-dev \
+   && gem install bundler \
+   #
+   # Clean up
+   && apt-get autoremove -y \
+   && apt-get clean -y \
+   && rm -rf /var/lib/apt/lists/*
+
+RUN echo "en_US UTF-8" > /etc/locale.gen \
+    && locale-gen en_US.UTF-8
+
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+ENV DEBIAN_FRONTEND=dialog
+
+# TEST COMMANDS:
+# bundle install
+# bundle exec jekyll serve
+
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,30 @@
+// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.106.0/containers/ubuntu-18.04-git
+{
+	"name": "Ubuntu 18.04 & Git",
+	"dockerFile": "Dockerfile",
+
+	// Set *default* container specific settings.json values on container create.
+	"settings": { 
+		"terminal.integrated.shell.linux": "/bin/bash"
+	},
+
+	// Add the IDs of extensions you want installed when the container is created.
+	"extensions": []
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "uname -a",
+
+	// Uncomment to use the Docker CLI from inside the container. See https://aka.ms/vscode-remote/samples/docker-in-docker.
+	// "mounts": [ "source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind" ],
+
+	// Uncomment when using a ptrace-based debugger like C++, Go, and Rust
+	// "runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
+	"runArgs": [ "--net=host"],
+
+	// Uncomment to connect as a non-root user. See https://aka.ms/vscode-remote/containers/non-root.
+	// "remoteUser": "vscode"
+}
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -12,6 +12,8 @@ jobs:
 
     steps:
     - uses: actions/checkout@v1
+      with:
+        submodules: true
 
     - name: Set up Ruby 2.7
       uses: actions/setup-ruby@v1

diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,8 @@
+[submodule "_includes/crazyflie_demo"]
+	path = _includes/crazyflie_demo
+	url = https://github.com/micro-ROS/micro-ROS_crazyflie_demo
+	branch = master
+[submodule "_includes/sensors_demo"]
+	path = _includes/sensors_demo
+	url = https://github.com/micro-ROS/micro-ROS_sensors_demo
+	branch = master
diff --git a/_data/docs.yml b/_data/docs.yml
@@ -48,18 +48,18 @@
 - title: Demos
   docs:
    - tutorials/demos/kobuki_demo
+   - tutorials/demos/crazyflie_demo
    - tutorials/demos/tof_demo
    - tutorials/demos/fiware_demo
-   - tutorials/demos/crazyflie_demo
    - tutorials/demos/complete_demo
 
 - title: Advanced Tutorials with Nuttx
   docs:
    - tutorials/advanced/nuttx/nuttx_getting_started
+   - tutorials/advanced/nuttx/add_a_microros_application
    - tutorials/advanced/nuttx/debugging_gdb_openocd
    - tutorials/advanced/nuttx/debugging_vscode
    - tutorials/advanced/nuttx/6lowpan_nuttx_rpi
-   - tutorials/advanced/nuttx/tracing
    - tutorials/advanced/nuttx/microros_nuttx_bsp
    - tutorials/advanced/nuttx/microros_6lowpan_tutorial
 
@@ -70,4 +70,10 @@
 - title: Advanced Tutorials with Zephyr
   docs:
     - tutorials/advanced/zephyr/zephyr_getting_started
+    - tutorials/advanced/zephyr/zephyr_emulator
+
 
+- title: Advanced Tutorials with Linux
+  docs:
+    - tutorials/advanced/linux/linux_getting_started
+    - tutorials/advanced/linux/tracing
diff --git a/_docs/concepts/rtos/comparison/index.md b/_docs/concepts/rtos/comparison/index.md
diff --git a/_docs/overview/hardware/imgs/2.jpg b/_docs/overview/hardware/imgs/2.jpg
diff --git a/_docs/overview/hardware/imgs/3.jpg b/_docs/overview/hardware/imgs/3.jpg
diff --git a/_docs/overview/hardware/index.md b/_docs/overview/hardware/index.md
@@ -3,19 +3,24 @@ title: Supported Hardware
 permalink: /docs/overview/hardware/
 ---
 
-By default, micro-ROS uses [NuttX RTOS](https://nuttx.org/). This RTOS has a big variety of supported MCUs and development boards. The next list shows some of them:
+micro-ROS targets mid-range and high-performance 32-bits microcontrollers families. For now, most of the ports are based on the [STM32 series](https://www.st.com/en/microcontrollers-microprocessors/stm32-32-bit-arm-cortex-mcus.html) from ST. These kinds of MCU feature ARM Cortex-M processors with many peripherals such as GPIO, communication or coprocessors.  By default, micro-ROS uses [NuttX RTOS](https://nuttx.org/), but it also has ports for [FreeRTOS](https://www.freertos.org/) and [Zephyr](https://www.zephyrproject.org/). These RTOSes have a big variety of supported MCUs and development boards. The follwing list shows some of them:
 
 + MicroChip PIC32MX Family
 + Atmel SAMA5Dx
 + STM32F1/2/3/4 and STM32L1/4, that includes many Nucleo board support.
 + Renesas M16C/26
 + NXP/Freescale i.MX1/6 and i.MX RT
 + Silicon Labs EFM32 Gecko and Giant Gecko
++ XTENSA board, that includes ESP32
++ RISC-V boards
 
-Please check [this link](https://cwiki.apache.org/confluence/display/NUTTX/Supported+Platforms) to check the complete list and the status of each board. In case you are interested in porting new boards or MCUs, please check the [next link](https://cwiki.apache.org/confluence/display/NUTTX/Porting+Guide).
+<!-- TODO (pablogs): Update this paragraph to a more generic porting guide link  -->
+Please check [this link](https://cwiki.apache.org/confluence/display/NUTTX/Supported+Platforms) to see the complete list and the status of each board. In case you are interested in porting new boards or MCUs, please check the [next link](https://cwiki.apache.org/confluence/display/NUTTX/Porting+Guide).
 
 Even though many development boards could be used, we have chosen two of them as references. This page lists the hardware platforms that we use to test and develop micro-ROS, and also accessories that we frequently refer to, such as add-on boards, and JTAG probes.
 
+For the ease of use, micro-ROS provides a ready to use example for some development boards. These out-of-the-box examples aim to show micro-ROS capabilities and they are also a starting point for developing embedded ROS 2 applications.
+
 ## Reference Platforms {#evaluation-boards}
 
 This section describes the main characteristic of the selected boards.
@@ -26,11 +31,16 @@ This section describes the main characteristic of the selected boards.
 
 The [Olimex LTD STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware) is an open-hardware low-cost entry board for developing custom applications with the STM32F407ZGT6 Cortex-M4F microcontrollers from STMicroelectronics.
 
-It contains 196KB of RAM and 1MB of Flash. It is a very complete board thanks to the wide variety of communication interfaces it offers: USB OTG, Ethernet, SD Card slot, SPI, CAN or I2C buses are exposed. The board contains various expansion options available: Arduino-like headers for attaching daughter boards, many pins exposed, as well as a UEXT connector. This connector is a custom pin-out bus and is used to attach sensor breakouts sensors that manufacturer sells.
+It contains 196KB of RAM and 1MB of Flash. It is a very complete board thanks to the wide variety of communication interfaces it offers: USB OTG, Ethernet, SD Card slot, SPI, CAN or I2C buses are exposed. The board contains various expansion options available: Arduino-like headers for attaching daughter boards, many pins exposed, as well as a UEXT connector. This connector is a custom pin-out bus and is used to attach sensor breakouts that manufacturer sells.
+
+Ports for micro-ROS on all supported RTOS are available for this board. Examples on how to start developing with this board are available:
+ - [Zephyr](/docs/tutorials/advanced/zephyr/zephyr_getting_started/)
+ - [Nuttx](/docs/tutorials/advanced/nuttx/nuttx_getting_started/)
+ - [FreeRTOS](/docs/tutorials/advanced/freertos/freertos_getting_started/)
 
 ### Development tools
 
-In order to flash and debug the board, it is required to get a JTAG probe. We recommend getting on of the next JTAG probes:
+In order to flash and debug the board, it is required to get a JTAG probe. We recommend getting one of the following JTAG probes:
 
 + [ARM-USB-OCD-H](https://www.olimex.com/Products/ARM/JTAG/ARM-USB-OCD-H/)
 + [ARM-USB-TINY-H](https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/)
@@ -55,3 +65,51 @@ The (STM32L1 Discovery Kit)[https://www.st.com/en/evaluation-tools/32l152cdiscov
 + [Schematics in PDF](https://www.st.com/resource/en/schematic_pack/32l152cdiscovery_sch.zip)
 + [Bill of Material](https://www.st.com/resource/en/bill_of_materials/32l152cdiscovery_bom.zip)
 + [Gerber files](https://www.st.com/resource/en/bill_of_materials/32l152cdiscovery_bom.zip)
+
+
+## STM32L4 Discovery kit IoT 
+
+The [ST B-L475E-IOT01A](https://www.st.com/en/evaluation-tools/b-l475e-iot01a.html) evaluation board is a ready to use IoT kit. This board supports an out-of-the-box micro-ROS + Zephyr port.
+
+<img width="400" src="imgs/2.jpg">
+
+The STM32L4 Discovery kit IoT enables a wide diversity of applications by exploiting low-power communication, multiway sensing and Arm Cortex M4 core-based STM32L4 Series features.
+The support for Arduino and PMOD connectivity provides unlimited expansion capabilities with a large choice of specialized add-on boards.
+
+This board features a STM32L475E MCU with 1 MB of Flash memory and 128 KB of RAM. In addition to the MCU peripherals, the board includes: 
+ - 64 Mb SPI Flash memory
+ - Bluetooth V4.1 module (SPBTLE-RF)
+ - 915 MHz low-power RF module (SPSGRF-915)
+ - 802.11 b/g/n module (ISM43362-M3G-L44)
+ - NFC tag based on M24SR with printed antenna
+ - 2 digital microphones (MP34DT01)
+ - relative humidity and temperature digital sensor (HTS221)
+ - 3-axis magnetometer (LIS3MDL)
+ - 3-axis accelerometer and gyroscope (LSM6DSL)
+ - digital barometer (LPS22HB)
+ - Time-of-Flight and gesture-detection sensor (VL53L0X)
+ - programmable push-buttons
+ - USB OTG FS with Micro-AB connector
+ - on-board ST-LINK/V2 debugger and programmer
+
+Examples on how to start developing with this board are available [here](/docs/tutorials/demos/tof_demo/).
+
+
+## Crazyflie 2.1 Drone
+
+As an integration example, the open-source [Crazyflie 2.1](https://www.bitcraze.io/products/crazyflie-2-1/) platform has its own micro-ROS + FreeRTOS port. 
+
+<img width="400" src="imgs/3.jpg">
+
+The Crazyflie 2.1 is a versatile open-source flying development platform that only weighs 27g and fits in the palm of your hand. Crazyflie 2.1 is equipped with multiple inertial sensors and low-latency/long-range radio as well as Bluetooth LE.
+
+This little drone features a STM32F405 ARM Cortex-M4 MCU running up to 168 MHz with 1 MB of Flash and 192 KB of RAM. It also features the following sensors and coprocessors:
+ - nRF51822 radio and power management MCU (Cortex-M0, 32Mhz, 16kb SRAM, 128kb flash)
+ - USB
+ - LiPo battery charger
+ - 8KB EEPROM
+ - 3-axis accelerometer and gyroscope (BMI088)
+ - pressure sensor (BMP388)
+ - headers with peripheral access: SPI, I2C, UART, 1-wire and GPIO
+
+Examples on how to start developing with this board are available [here](/docs/tutorials/demos/crazyflie_demo/).
diff --git a/_docs/tutorials/advanced/freertos/freertos_getting_started/imgs/1.jpg b/_docs/tutorials/advanced/freertos/freertos_getting_started/imgs/1.jpg
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