diff --git a/_data/docs.yml b/_data/docs.yml
index 4ef017d8..3897aa9a 100644
--- a/_data/docs.yml
+++ b/_data/docs.yml
@@ -13,6 +13,7 @@
    - concepts/client_library/system_modes
    - concepts/client_library/embedded_tf
    - concepts/client_library/decision_paper
+   - concepts/client_library/rcutils_analysis
 
 - title: Middleware
   docs:
diff --git a/_docs/concepts/client_library/rcutils_analysis/analysis.md b/_docs/concepts/client_library/rcutils_analysis/analysis.md
index 76cd8853..9801b98d 100644
--- a/_docs/concepts/client_library/rcutils_analysis/analysis.md
+++ b/_docs/concepts/client_library/rcutils_analysis/analysis.md
@@ -1,15 +1,20 @@
+---
+title: Embedded rcutils analysis
+permalink: /docs/concepts/client_library/rcutils_analysis/
+---
+
 ## Proposed changes
 
-The main issues found when porting rcutils package to embedded systems with RTOS during micro-ROS development were:
- - the lack of filesystem
- - dynamic memory allocations out of the RTOS control (usually with standar library implementations of `malloc` and `free`)
- - the POSIX API dependency
+The main issues found when porting rcutils package to embedded systems with RTOS during micro*ROS development were:
+ * the lack of filesystem
+ * dynamic memory allocations out of the RTOS control (usually with standard library implementations of `malloc` and `free`)
+ * the POSIX API dependency
 
 This document addresses the first two items.
 
-In order to avoid the **filesystem** dependency without modifiying high level layers (such as `rcl` or `rmw`), it is proposed to use a combination between the available `rcl_logging_noop` package and a modified version of the filesystem dependecies in `rcutils`. This approach is enabled using `RCUTILS_NO_FILESYSTEM` flag in compilation time. 
+To avoid the **filesystem** dependency without modifying high*level layers (such as `rcl` or `rmw`), it is proposed to use a combination between the available `rcl_logging_noop` package and a modified version of the filesystem dependencies in `rcutils`. This approach is enabled using the `RCUTILS_NO_FILESYSTEM` flag in compilation time. 
 
-**Dynamic memory allocation** must be bounded to ROS2 custom allocators. `rcl` and `rmw` layers usually rely on `rcutils_get_default_allocator` function in order to obtain allocators, so a setter function is proposed.
+**Dynamic memory allocation** must be bounded to ROS2 custom allocators. `rcl` and `rmw` layers usually rely on `rcutils_get_default_allocator` function to obtain allocators, so a setter function is proposed.
 This way, using `rcutils_set_default_allocator` function is possible to modify the defaults easing the use of custom memory management in embedded systems.
 
 Dynamic memory allocation is also found when dealing with error handling in `rcutils`. By using `RCUTILS_AVOID_DYNAMIC_ALLOCATION` some string related `memmove` functions along the error handling are avoided.
@@ -20,120 +25,120 @@ Dynamic memory allocation is also found when dealing with error handling in `rcu
 
 ### error_handling.h
 
-- Macro **RCUTILS_SAFE_FWRITE_TO_STDERR** in `rcutils` error_handling.h:
-   [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1L42)
-  - Problem: use `fwrite` to print to stderr and relies on a filesytem
-  - Appears in:
-    - rcl/rcl/src/rcl/expand_topic_name.c
-    - rcl/rcl/src/rcl/logging_rosout.c
-    - rcl/rcl/src/rcl/logging.c
-    - rcl/rcl/src/rcl/context.c
-    - rcl/rcl_yaml_param_parser/src/parser.c
-    - rcutils/src/split.c
-    - rcutils/src/error_handling.c
-    - rcutils/src/allocator.c
-    - rcutils/src/logging.c
-    - rcutils/src/error_handling_helpers.h
-    - rcutils/include/rcutils/logging.h
-    - rcutils/include/rcutils/error_handling.h
-    - rcl/rcl/src/rcl/expand_topic_name.c
-    - rcl/rcl/src/rcl/logging_rosout.c
-    - rcl/rcl/src/rcl/logging.c
-    - rcl/rcl/src/rcl/context.c
-    - rcl/rcl_yaml_param_parser/src/parser.c
-    - rmw/rmw/include/rmw/error_handling.h
-
-- Macro **RCUTILS_SET_ERROR_MSG** in `rcutils` error_handling.h: [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R202)
-  - Problem: use inconditionally `memmove` inside `__rcutils_copy_string()` inside `rcutils_set_error_state`. It implies dynamic memory allocation.
-  - Dependecies:
-    - rcl/rcl/include/rcl/error_handling.h
-    - rcutils/src/security_directory.c
-    - rcutils/src/time_unix.c
-    - rcutils/src/split.c
-    - rcutils/src/error_handling.c
-    - rcutils/src/time.c
-    - rcutils/src/string_map.c
-    - rcutils/src/uint8_array.c
-    - rcutils/src/hash_map.c
-    - rcutils/src/char_array.c
-    - rcutils/src/logging.c
-    - rcutils/src/string_array.c
-    - rcutils/src/array_list.c
-    - rcutils/include/rcutils/types/array_list.h
-    - rcutils/include/rcutils/types/hash_map.h
-    - rcutils/include/rcutils/allocator.h
-    - rcutils/include/rcutils/error_handling.h
-    - rcl/rcl/include/rcl/error_handling.h
-    - rmw/rmw/include/rmw/error_handling.h
-
-- Macro **RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING** in `rcutils` error_handling.h:. [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R218)
-  - Problem: use `RCUTILS_SET_ERROR_MSG`, see above.
-  - Dependecies:
-    - rcl/rcl/include/rcl/error_handling.h
-    - rcutils/src/security_directory.c
-    - rcutils/src/string_map.c
-    - rcutils/src/logging.c
-    - rcutils/include/rcutils/error_handling.h
-    - rcl/rcl/include/rcl/error_handling.h
-    - rmw/rmw/include/rmw/error_handling.h
+* Macro **RCUTILS_SAFE_FWRITE_TO_STDERR** in `rcutils` error_handling.h:
+[Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1L42)
+  * Problem: use `fwrite` to print to stderr and relies on a filesytem
+  * Appears in:
+    * rcl/rcl/src/rcl/expand_topic_name.c
+    * rcl/rcl/src/rcl/logging_rosout.c
+    * rcl/rcl/src/rcl/logging.c
+    * rcl/rcl/src/rcl/context.c
+    * rcl/rcl_yaml_param_parser/src/parser.c
+    * rcutils/src/split.c
+    * rcutils/src/error_handling.c
+    * rcutils/src/allocator.c
+    * rcutils/src/logging.c
+    * rcutils/src/error_handling_helpers.h
+    * rcutils/include/rcutils/logging.h
+    * rcutils/include/rcutils/error_handling.h
+    * rcl/rcl/src/rcl/expand_topic_name.c
+    * rcl/rcl/src/rcl/logging_rosout.c
+    * rcl/rcl/src/rcl/logging.c
+    * rcl/rcl/src/rcl/context.c
+    * rcl/rcl_yaml_param_parser/src/parser.c
+    * rmw/rmw/include/rmw/error_handling.h
+
+* Macro **RCUTILS_SET_ERROR_MSG** in `rcutils` error_handling.h: [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R202)
+  * Problem: use inconditionally `memmove` inside `__rcutils_copy_string()` inside `rcutils_set_error_state`. It implies dynamic memory allocation.
+  * Dependecies:
+    * rcl/rcl/include/rcl/error_handling.h
+    * rcutils/src/security_directory.c
+    * rcutils/src/time_unix.c
+    * rcutils/src/split.c
+    * rcutils/src/error_handling.c
+    * rcutils/src/time.c
+    * rcutils/src/string_map.c
+    * rcutils/src/uint8_array.c
+    * rcutils/src/hash_map.c
+    * rcutils/src/char_array.c
+    * rcutils/src/logging.c
+    * rcutils/src/string_array.c
+    * rcutils/src/array_list.c
+    * rcutils/include/rcutils/types/array_list.h
+    * rcutils/include/rcutils/types/hash_map.h
+    * rcutils/include/rcutils/allocator.h
+    * rcutils/include/rcutils/error_handling.h
+    * rcl/rcl/include/rcl/error_handling.h
+    * rmw/rmw/include/rmw/error_handling.h
+
+* Macro **RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING** in `rcutils` error_handling.h:. [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R218)
+  * Problem: use `RCUTILS_SET_ERROR_MSG`, see above.
+  * Dependecies:
+    * rcl/rcl/include/rcl/error_handling.h
+    * rcutils/src/security_directory.c
+    * rcutils/src/string_map.c
+    * rcutils/src/logging.c
+    * rcutils/include/rcutils/error_handling.h
+    * rcl/rcl/include/rcl/error_handling.h
+    * rmw/rmw/include/rmw/error_handling.h
 
 ### security_directory.c (moved from `rcl` to `rcutils`)
 
-- Function **get_best_matching_directory** in `rcutils` security_directory.c [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911R91)
-  - Problem: use **tinydir** library which relies on filesytem
-  - Dependecies:
-    - rcutils/src/security_directory.c
-    - rcl/rcl/src/rcl/security_directory.c
+* Function **get_best_matching_directory** in `rcutils` security_directory.c [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911R91)
+  * Problem: use **tinydir** library which relies on filesytem
+  * Dependecies:
+    * rcutils/src/security_directory.c
+    * rcl/rcl/src/rcl/security_directory.c
 
-- Function **prefix_match_lookup**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911L151)
-  - Problem: use **tinydir** library which relies on filesytem
-  - Dependencies:
-    - rcutils/src/security_directory.c
-    - rcl/rcl/src/rcl/security_directory.c
+* Function **prefix_match_lookup**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911L151)
+  * Problem: use **tinydir** library which relies on filesytem
+  * Dependencies:
+    * rcutils/src/security_directory.c
+    * rcl/rcl/src/rcl/security_directory.c
 
 ### allocator.c
 
-- Function **rcutils_get_default_allocator**. [Check here](https://github.com/micro-ROS/rcutils/commit/3abb1eb2c9b206054101293997c0d4e541b1c657)
-  - Problem: use static allocated **default_allocator** which uses malloc/free. **rcutils_set_default_allocator** is proposed.
-  - Dependecies:
-    - rcl/rcl/include/rcl/allocator.h
-    - rcl/rcl/include/rcl/expand_topic_name.h
-    - rcutils/src/allocator.c
-    - rcutils/src/logging.c
-    - rcutils/include/rcutils/types/string_map.h
-    - rcutils/include/rcutils/types/array_list.h
-    - rcutils/include/rcutils/types/string_array.h
-    - rcutils/include/rcutils/types/hash_map.h
-    - rcutils/include/rcutils/allocator.h
-    - rmw_implementation/rmw_implementation/src/functions.cpp
-    - rcl/rcl/include/rcl/allocator.h
-    - rcl/rcl/include/rcl/expand_topic_name.h
-    - rmw/rmw/src/allocators.c
+* Function **rcutils_get_default_allocator**. [Check here](https://github.com/micro-ROS/rcutils/commit/3abb1eb2c9b206054101293997c0d4e541b1c657)
+* Problem: use static allocated **default_allocator** which uses malloc/free. **rcutils_set_default_allocator** is proposed.
+* Dependecies:
+  * rcl/rcl/include/rcl/allocator.h
+  * rcl/rcl/include/rcl/expand_topic_name.h
+  * rcutils/src/allocator.c
+  * rcutils/src/logging.c
+  * rcutils/include/rcutils/types/string_map.h
+  * rcutils/include/rcutils/types/array_list.h
+  * rcutils/include/rcutils/types/string_array.h
+  * rcutils/include/rcutils/types/hash_map.h
+  * rcutils/include/rcutils/allocator.h
+  * rmw_implementation/rmw_implementation/src/functions.cpp
+  * rcl/rcl/include/rcl/allocator.h
+  * rcl/rcl/include/rcl/expand_topic_name.h
+  * rmw/rmw/src/allocators.c
 
 ### filesystem.c
 
-- Functions **rcutils_get_cwd**, **rcutils_is_directory**, **rcutils_is_file**, **rcutils_exists**, **rcutils_is_readable**, **rcutils_is_writable** and **rcutils_is_readable_and_writable**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d)
-  - Problem: rely on filesystem
-  - Dependecies **rcutils_get_cwd()**:
-    - rcutils/src/filesystem.c
-    - rcutils/include/rcutils/filesystem.h
-  - Dependecies **rcutils_is_directory()**:
-    - rcutils/src/security_directory.c
-    - rcutils/src/filesystem.c
-    - rcutils/include/rcutils/filesystem.h
-    - rcl/rcl/src/rcl/security_directory.c
-  - Dependecies **rcutils_is_file()**:
-    - rcutils/src/filesystem.c
-    - rcutils/include/rcutils/filesystem.h
-  - Dependencies **rcutils_exists()**:
-    - rcutils/src/filesystem.c
-    - rcutils/include/rcutils/filesystem.h
-  - Dependencies **rcutils_is_readable()**:
-    - rcutils/src/filesystem.c
-    - rcutils/include/rcutils/filesystem.h
-  - Dependencies **rcutils_is_writable()**:
-    - rcutils/src/filesystem.c
-    - rcutils/include/rcutils/filesystem.h
-  - Dependencies **rcutils_is_readable_and_writable()**:
-    - rcutils/src/filesystem.c
-    - rcutils/include/rcutils/filesystem.h
\ No newline at end of file
+* Functions **rcutils_get_cwd**, **rcutils_is_directory**, **rcutils_is_file**, **rcutils_exists**, **rcutils_is_readable**, **rcutils_is_writable** and **rcutils_is_readable_and_writable**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d)
+  * Problem: rely on filesystem
+  * Dependecies **rcutils_get_cwd()**:
+    * rcutils/src/filesystem.c
+    * rcutils/include/rcutils/filesystem.h
+  * Dependecies **rcutils_is_directory()**:
+    * rcutils/src/security_directory.c
+    * rcutils/src/filesystem.c
+    * rcutils/include/rcutils/filesystem.h
+    * rcl/rcl/src/rcl/security_directory.c
+  * Dependecies **rcutils_is_file()**:
+    * rcutils/src/filesystem.c
+    * rcutils/include/rcutils/filesystem.h
+  * Dependencies **rcutils_exists()**:
+    * rcutils/src/filesystem.c
+    * rcutils/include/rcutils/filesystem.h
+  * Dependencies **rcutils_is_readable()**:
+    * rcutils/src/filesystem.c
+    * rcutils/include/rcutils/filesystem.h
+  * Dependencies **rcutils_is_writable()**:
+    * rcutils/src/filesystem.c
+    * rcutils/include/rcutils/filesystem.h
+  * Dependencies **rcutils_is_readable_and_writable()**:
+    * rcutils/src/filesystem.c
+    * rcutils/include/rcutils/filesystem.h
\ No newline at end of file
diff --git a/scripts/cibuild b/scripts/cibuild
index 63934b15..90ec443d 100755
--- a/scripts/cibuild
+++ b/scripts/cibuild
@@ -1,11 +1,20 @@
 #!/usr/bin/env bash
 set -e # halt script on error
 
-IGNORE_HREFS=$(ruby -e 'puts %w{
+CHANGED_FILES=$(git diff --name-only origin/master)
+if  grep -q "_docs" <<< $CHANGED_FILES; then
+    TOUCHED=${TOUCHED:+$TOUCHED }micro-ros.github.io//docs
+else if grep -q "_posts" <<< $CHANGED_FILES; then
+    TOUCHED=${TOUCHED:+$TOUCHED,}micro-ros.github.io//blog
+    fi
+fi
+
+IGNORE_HREFS=${IGNORE_HREFS:+$IGNORE_HREFS,}$(ruby -e "puts %w{
   vimeo.com
-  micro-ros.github.io//blog
-  }.map{|h| "/#{h}/"}.join(",")'
+  ${TOUCHED}
+  }.map{|h| \"/#{h}/\"}.join(\",\")"
 )
 
+echo "Ignoring urls: " $IGNORE_HREFS
 bundle exec jekyll build
-bundle exec htmlproofer --check_html --check-favicon --assume-extension --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site
+bundle exec htmlproofer --check_html --check-favicon --assume-extension --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site
\ No newline at end of file