micro-ROS · pablogs9 · Apr 7, 2021 · Apr 6, 2021 · Apr 6, 2021 · Apr 7, 2021
diff --git a/_data/docs.yml b/_data/docs.yml
@@ -54,6 +54,7 @@
 
 - title: Advanced Tutorials
   docs:
+   - tutorials/advanced/overview
    - tutorials/advanced/microxrcedds_rmw_configuration
    - tutorials/advanced/create_new_type
    - tutorials/advanced/create_dds_entities_by_ref

diff --git a/_docs/overview/rtos/index.md b/_docs/overview/rtos/index.md
@@ -110,7 +110,7 @@ Zephyr is a fairly new open-source RTOS, developed in a Linux Foundation Project
         <ul>
             <li><a href="https://www.zephyrproject.org/micro-ros-a-member-of-the-zephyr-project-and-integrated-into-the-zephyr-build-system-as-a-module/">micro-ROS on Zephyr</a></li>
             <li><a href="https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/zephyr/">First micro-ROS Application on Zephyr</a></li>
-            <li><a href="https://micro-ros.github.io/docs/tutorials/advanced/zephyr_emulator/">First micro-ROS Application on Zephyr Emulator</a></li>
+            <li><a href="https://micro-ros.github.io/docs/tutorials/core/zephyr_emulator/">First micro-ROS Application on Zephyr Emulator</a></li>
         </ul>
     </div>
   </div>

diff --git a/_docs/tutorials/advanced/create_new_type/index.md b/_docs/tutorials/advanced/create_new_type/index.md
@@ -1,5 +1,5 @@
 ---
-title: How to create a new micro-ROS message type
+title: How to include a custom ROS message in micro-ROS
 permalink: /docs/tutorials/advanced/create_new_type/
 ---
 

diff --git a/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md b/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
@@ -114,4 +114,4 @@ rcl_init(0, NULL, &init_options, &context);
 // ... micro-ROS code ...
 ```
 
-Notice that it is also possible to set the Micro XRCE-DDS `client_key`, which would otherwise be set randomly. This feature is useful for reusing DDS entities already created on the agent side. Further information can be found [here](https://micro-xrce-dds.readthedocs.io/en/latest/deployment.html#configurate-the-publisher) and [here](https://github.com/micro-ROS/rmw-microxrcedds#rmw-micro-xrce-dds-implementation).
+Notice that it is also possible to set the Micro XRCE-DDS `client_key`, which would otherwise be set randomly. This feature is useful for reusing DDS entities already created on the agent side. Further information can be found [here](https://micro-xrce-dds.docs.eprosima.com/en/latest/getting_started.html#publisher-configuration) and [here](https://github.com/micro-ROS/rmw-microxrcedds#rmw-micro-xrce-dds-implementation).
diff --git a/_docs/tutorials/advanced/overview/index.md b/_docs/tutorials/advanced/overview/index.md
@@ -0,0 +1,36 @@
+---
+title: Overview
+permalink: /docs/tutorials/advanced/overview/
+redirect_from:
+  - /docs/tutorials/advanced/
+---
+
+This chapter provides a number of advanced tutorials for those users who already have some previous micro-ROS knowledge. They are useful to interact with micro-ROS at a deeper level compared with the [**First Step Tutorials**](../../core/overview). There is no specific order recommended to take these tutorials, as each addresses a different aspect of the micro-ROS stack and toolchain.
+
+* [**Optimizing the Middleware Configuration**](../microxrcedds_rmw_configuration/)
+
+  In this tutorial, we'll guide you through the configuration of the middleware between a microcontroller and the micro-ROS agent running on some Linux-based microprocessor, to optimize it for your specific use-case and application.
+
+* [**How to include a custom ROS message in micro-ROS**](../create_new_type/)
+
+  This tutorial explains how to create or include a custom ROS message type in a micro-ROS application - and in particular how to bring it into the [build system](https://github.com/micro-ROS/micro_ros_setup).
+
+* [**How to use custom QoS in micro-ROS**](../create_dds_entities_by_ref/)
+
+  This tutorial explains the procedure for creating micro-ROS entities using fully configurable QoS settings by using the ROS 2 (DDS) entities creation mode *by references* as allowed by the micro-ROS default middleware (Micro XRCE-DDS Client).
+
+* [**Creating custom micro-ROS transports**](../create_custom_transports/)
+
+  This tutorial aims at providing step-by-step guidance for those users interested in creating micro-ROS custom transports, instead of using the ones provided by default in the micro-ROS tools set.
+
+* [**Creating custom static micro-ROS library**](../create_custom_static_library/)
+
+  This tutorial aims at providing step-by-step guidance for those users interested in compiling micro-ROS as a standalone library in order to integrate it in custom development tools.
+
+* [**Benchmarking with the Shadow-Builder**](../benchmarking/)
+
+  This tutorial aims at describing a specific benchmarking tooling called the *Shadow Builder*. More specifically, it explains how to create a plugin from A to Z and how to instrument the code.
+
+* [**Getting started with ROS 2 tracing**](../tracing/)
+
+  Tracing is a method for recording run-time data which is already well integrated with operating systems. This tutorial aims to introduce our ongoing effort to instrument ROS 2 and provide trace analysis tools.
diff --git a/_docs/tutorials/core/overview/index.md b/_docs/tutorials/core/overview/index.md
@@ -6,7 +6,7 @@ redirect_from:
   - /docs/tutorials/
 ---
 
-This chapter provides you a number of tutorials to learn micro-ROS and relevant tools for the different RTOS supported by micro-ROS. We divided this chapter into two sections core tutorials and advanced tutorials.
+This chapter provides the user with a number of tutorials to learn micro-ROS and relevant tools for the different RTOSes supported by micro-ROS. In the [**Advanced Tutorials**](../../advanced/overview/) section, you'll find more advanced tutorials to strenghten your micro-ROS knowledge.
 
 If you are new to micro-ROS, we strongly suggest that you take the tutorials in the following order:
 
@@ -22,6 +22,6 @@ If you are new to micro-ROS, we strongly suggest that you take the tutorials in
 
   You'll learn the concepts of the micro-ROS C API in this tutorial in depth. If you are already familiar with the ROS 2 C++ API or even the underlying ROS Client Support Library (rcl), you'll learn this very quickly.
 
-* [**Optimizing the Middleware Configuration**](../../advanced/microxrcedds_rmw_configuration/)
+* [**Zephyr Emulator**](../zephyr_emulator/)
 
-  In this tutorial, we'll guide you through the configuration of the middleware between a microcontroller and the micro-ROS agent running on some Linux-based microprocessor, to optimize it for your specific use-case an application.
+  In this tutorial, you'll learn the use of micro-ROS with Zephyr emulator by testing a Ping Pong application.