micro-ROS · FranFin · Mar 30, 2020 · Mar 23, 2020 · Mar 23, 2020 · Mar 23, 2020
diff --git a/_data/docs.yml b/_data/docs.yml
@@ -69,6 +69,7 @@
 - title: Advanced Tutorials with Zephyr
   docs:
     - tutorials/advanced/zephyr/zephyr_getting_started
+    - tutorials/advanced/zephyr/zephyr_emulator
 
 
 - title: Advanced Tutorials with Linux

diff --git a/_docs/concepts/rtos/comparison/index.md b/_docs/concepts/rtos/comparison/index.md
diff --git a/_docs/tutorials/advanced/freertos/freertos_getting_started/index.md b/_docs/tutorials/advanced/freertos/freertos_getting_started/index.md
@@ -68,10 +68,11 @@ micro-ROS apps for Olimex + FreeRTOS are located at `firmware/freertos_apps/apps
 
 ```bash
 # Creating a new app
-cd firmware/freertos_apps/apps
+pushd firmware/freertos_apps/apps
 mkdir my_brand_new_app
 cd my_brand_new_app
 touch app.c app-colcon.meta
+popd
 ```
 
 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:
@@ -153,8 +154,9 @@ void appMain(void *argument)
   rcl_publisher_t pong_publisher = rcl_get_zero_initialized_publisher();
   rcl_publisher_init(&pong_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong", &pong_publisher_ops);
 
-  // Create a reliable pong subscriber
+  // Create a best effort pong subscriber
   rcl_subscription_options_t pong_subscription_ops = rcl_subscription_get_default_options();
+  pong_subscription_ops.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
   rcl_subscription_t pong_subscription = rcl_get_zero_initialized_subscription();
   rcl_subscription_init(&pong_subscription, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong", &pong_subscription_ops);
 
@@ -296,7 +298,8 @@ First of all, create and build a micro-ROS agent:
 ros2 run micro_ros_setup create_agent_ws.sh
 
 # Build micro-ROS-Agent packages, this may take a while.
-colcon build
+colcon build --metas src
+source install/local_setup.bash
 ```
 
 Then connect the Olimex development board to the computer using the usb to serial cable:

diff --git a/_docs/tutorials/advanced/zephyr/zephyr_emulator/imgs/4.jpg b/_docs/tutorials/advanced/zephyr/zephyr_emulator/imgs/4.jpg