Fixed broken links.

Author: FranFin

_docs/concepts/client_library/features/index.md

@@ -13,4 +13,4 @@ The micro-ROS Client Library, formed by standard [ROS 2 Client Support Library (
 * Lifecycle
 * Parameters
 
-Most features are already available in the Foxy release. Please see our [Feature Overview page](/docs/overview/features/) for details on the status. To learn developing your own application nodes with rcl + rclc, please head to the corresponding [programming tutorial](/docs/tutorials/core/programming_rcl_rclc/).
+Most features are already available in the Foxy release. Please see our [Feature Overview page](/docs/overview/features/) for details on the status. To learn developing your own application nodes with rcl + rclc, please head to the corresponding [programming tutorial](/docs/tutorials/firststeps/programming_rcl_rclc/).

_docs/concepts/middleware/Micro_XRCE-DDS/index.md

@@ -44,7 +44,7 @@ These definitions allow to create a version of the library according to the appl
 For incorporating the desired configuration, it is necessary to run the `cmake` command every time the definitions change.
 
 For more information on how to configure micro-ROS by opportunely tuning parameters either in the Micro XRCE-DDS library
-orin its rmw implementation [`rmw_microxrcedds`](https://github.com/micro-ROS/rmw-microxrcedds), consult this [tutorial](/docs/tutorials/core/microxrcedds_rmw_configuration/) and the `rmw_microxrcedds` [README](https://github.com/micro-ROS/rmw-microxrcedds#rmw-micro-xrce-dds-implementation).
+orin its rmw implementation [`rmw_microxrcedds`](https://github.com/micro-ROS/rmw-microxrcedds), consult this [tutorial](/docs/tutorials/advanced/microxrcedds_rmw_configuration/) and the `rmw_microxrcedds` [README](https://github.com/micro-ROS/rmw-microxrcedds#rmw-micro-xrce-dds-implementation).
 
 ### Multi-Transport Support
 
@@ -76,7 +76,7 @@ Additionally, using references will also reduce the memory consumption of the Cl
 This is because the reference approach allows avoiding to build the parts of the code where XMLs are stored.
 
 Notice that this mechanism is inherited by micro-ROS which, as a consequence, will be able to leverage the same full set of QoS as ROS 2.
-For a comprehensive review on how to use custom QoS in micro-ROS, please visit this [dedicated page](/docs/tutorials/core/create_dds_entities_by_ref/) in the tutorials section.
+For a comprehensive review on how to use custom QoS in micro-ROS, please visit this [dedicated page](/docs/tutorials/advanced/create_dds_entities_by_ref/) in the tutorials section.
 
 
 ## Other links
@@ -87,5 +87,5 @@ For a comprehensive review on how to use custom QoS in micro-ROS, please visit t
 * [XRCE Agent on GitHub](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
 * [rmw_microxrcedds on GitHub](https://github.com/micro-ROS/rmw-microxrcedds)
 * [Micro XRCE-DDS memory profiling](/docs/concepts/middleware/memo_prof/)
-* [Middleware optimization tutorial](/docs/tutorials/core/microxrcedds_rmw_configuration/).
-* [How to use custom QoS in micro-ROS](/docs/tutorials/core/create_dds_entities_by_ref/)
+* [Middleware optimization tutorial](/docs/tutorials/advanced/microxrcedds_rmw_configuration/).
+* [How to use custom QoS in micro-ROS](/docs/tutorials/advanced/create_dds_entities_by_ref/)

_docs/overview/ROS_2_feature_comparison/index.md

@@ -45,7 +45,7 @@ ROS 2 Feature | | Availability in micro-ROS
 -- | -- | --
 Transport and serialization over DDS-XRCE and DDS| <span class="status_flag">&#10003;&#43;</span> | Available transports: UDP, serial (UART) and custom as enabled by [Micro XRCE-DDS](https://github.com/eProsima/Micro-XRCE-DDS). Serialization between Client and Agent provided by [Micro-CDR](https://github.com/eProsima/Micro-CDR) and between Agent to standard DDS by [Fast-CDR](https://github.com/eProsima/Fast-CDR).
 Support for multiple DDS implementations, chosen at runtime | <span class="status_flag">&#10003;</span> | Support via the Micro XRCE-DDS Agent is possible in principle, but at compile-time only.
-Quality of service settings for handling non-ideal networks | <span class="status_flag">&#10003;&#43;</span> | For communication over the DDS-XRCE wire protocol, two QoS semantics, reliable and best-effort, are provided and can be set at compile-time. As for communication with the ROS 2 dataspace, micro-ROS entities can benefit from the whole set of QoS allowed by DDS when created [by Reference](https://micro-ros.github.io/docs/tutorials/core/create_dds_entities_by_ref/).
+Quality of service settings for handling non-ideal networks | <span class="status_flag">&#10003;&#43;</span> | For communication over the DDS-XRCE wire protocol, two QoS semantics, reliable and best-effort, are provided and can be set at compile-time. As for communication with the ROS 2 dataspace, micro-ROS entities can benefit from the whole set of QoS allowed by DDS when created [by Reference](https://micro-ros.github.io/docs/tutorials/advanced/create_dds_entities_by_ref/).
 DDS-Security support | <span class="status_flag">&#10003;&#45;</span> | Security is not yet supported in the communication process between the Client and the Agent. However, the micro-ROS Agent can benefit from Fast DDS security capabilities during the creation of DDS entities. *Roadmap: Implementation of security mechanisms in Micro XRCE-DDS are planned for future releases.*
 IDL | <span class="status_flag">&#10003;&#43;</span> | micro-ROS supports the same IDL types as ROS 2. Generation of C code from IDLs as handled by the Client is performed by the [Micro-XRCE-DDS-Gen](https://github.com/eProsima/Micro-XRCE-DDS-Gen) library, whereas generation of the C++ types handled by the Agent is handled by [Fast-DDS-Gen](https://github.com/eProsima/Fast-DDS-Gen).
 Logging | <span class="status_flag">&#8727;</span> | *Could be available as part of the standard logging mechanism in principle but not supported by Micro-XRCE-DDS due to dynamic message size. To be checked ...*

_docs/overview/hardware/index.md

@@ -30,7 +30,7 @@ permalink: /docs/overview/hardware/
 
 Micro-ROS aims to **bring ROS 2 to a wide set of microcontrollers** to allow having first-class ROS 2 entities in the embedded world.
 
-The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints. Since memory usage in micro-ROS is a complex matter we provide a [complete article](https://micro-ros.github.io/docs/concepts/benchmarking/memo_prof/) describing it and a tutorial on [how to tune the memory consuption](https://micro-ros.github.io/docs/tutorials/core/microxrcedds_rmw_configuration/) in the micro-ROS middleware. 
+The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints. Since memory usage in micro-ROS is a complex matter we provide a [complete article](https://micro-ros.github.io/docs/concepts/benchmarking/memo_prof/) describing it and a tutorial on [how to tune the memory consuption](https://micro-ros.github.io/docs/tutorials/advanced/microxrcedds_rmw_configuration/) in the micro-ROS middleware. 
 
 In general micro-ROS will need MCUs that have tens of kilobytes of RAM memory and communication peripherals that enable the micro-ROS [Client to Agent communication](https://micro-ros.github.io//docs/overview/features/).
 

_docs/overview/rtos/index.md

@@ -37,7 +37,7 @@ Even though recent developments aim at loosening this requirement, with the inte
 To date, micro-ROS is supported by the RTOSes FreeRTOS, Zephyr, NuttX, in addition to Linux and Windows. 
 All three RTOSes are downloaded natively with the [micro-ROS build system](https://github.com/micro-ROS/micro_ros_setup), and can be chosen when creating
 a new firmware workspace.
-Dedicated tutorials for running your first micro-ROS application on each of these Operating Systems can be found [here](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/).
+Dedicated tutorials for running your first micro-ROS application on each of these Operating Systems can be found [here](https://micro-ros.github.io/docs/tutorials/firststeps/first_application_rtos/).
 The features common to all supported RTOSes are an API compliant with POSIX to some degree, extremely low-to-low memory footprint, and availability of different scheduling algorithms to ensure determinism in micro-ROS apps behavior.
 
 Find more details about each of the supported RTOSes below.
@@ -72,7 +72,7 @@ FreeRTOS is distributed under the MIT license. It is known particularly for its
         <b>FreeRTOS & micro-ROS:</b>
         <ul>
             <li><a href="https://www.freertos.org/2020/09/micro-ros-on-freertos.html">micro-ROS on FreeRTOS</a></li>
-            <li><a href="https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/freertos/">First micro-ROS Application on FreeRTOS</a></li>
+            <li><a href="https://micro-ros.github.io/docs/tutorials/firststeps/first_application_rtos/freertos/">First micro-ROS Application on FreeRTOS</a></li>
         </ul>    
     </div>
   </div>
@@ -109,7 +109,7 @@ Zephyr is a fairly new open-source RTOS, developed in a Linux Foundation Project
         <b>Zephyr & micro-ROS:</b>
         <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/firststeps/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>
         </ul>
     </div>
@@ -142,7 +142,7 @@ NuttX emphasizes its compliance with standards - including POSIX - and small foo
         </ul>
         <b>NuttX & micro-ROS:</b>
         <ul>
-            <li><a href="https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/nuttx/">First micro-ROS Application on NuttX</a></li>
+            <li><a href="https://micro-ros.github.io/docs/tutorials/firststeps/first_application_rtos/nuttx/">First micro-ROS Application on NuttX</a></li>
         </ul>
     </div>
   </div>

_docs/tutorials/advanced/create_dds_entities_by_ref/index.md

@@ -68,7 +68,7 @@ But these QoS configurations may not fit some user's requirements. For these cas
 Additionally, using references will also reduce the memory consumption of the micro-ROS client inside the MCU. This is because the parts of the code where XML are handled are just not build with the references approach.
 
 Let's see how to create a micro-ROS node that creates entities with custom QoS. First of all, independently of which RTOS you have selected in [First micro-ROS Application on an RTOS
-](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/) tutorial, you should have an app configuration file named `app-colcon.meta`.
+](https://micro-ros.github.io/docs/tutorials/firststeps/first_application_rtos/) tutorial, you should have an app configuration file named `app-colcon.meta`.
 
 Inside this `app-colcon.meta` file we can set application specific CMake options for the micro-ROS packages that are going to be crosscompiled. So, let's setup the `rmw_microxrcedds` in order to use references; your `app-colcon.meta` should look like this:
 
@@ -86,7 +86,7 @@ Inside this `app-colcon.meta` file we can set application specific CMake options
 }
 ```
 
-Of course you can combine these configurations with others, e.g. the ones described in the [Middleware Configuration](https://micro-ros.github.io/docs/tutorials/core/microxrcedds_rmw_configuration/) tutorial.
+Of course you can combine these configurations with others, e.g. the ones described in the [Middleware Configuration](https://micro-ros.github.io/docs/tutorials/advanced/microxrcedds_rmw_configuration/) tutorial.
 
 Once you have this parameter, write your micro-ROS application using RCLC default convenience functions. Just remember that now you are not providing the topic name but a "QoS reference label":
 

_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md

@@ -59,7 +59,7 @@ The rmw-microxrcedds uses a static-memory message queue where to to keep the sub
 The size of this message queue could be set by the `RMW_UXRCE_MAX_HISTORY`.
 
 It is worth noting that all the aforementioned CMake flags shall be set in a `.meta` for each platform supported in [micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup).
-For example, in the [ping-pong application](https://micro-ros.github.io//docs/tutorials/core/first_application_linux/) the host [configuration file](https://github.com/micro-ROS/micro_ros_setup/blob/foxy/config/host/generic/client-host-colcon.meta) can be optimized with the following modifications:
+For example, in the [ping-pong application](https://micro-ros.github.io//docs/tutorials/firststeps/first_application_linux/) the host [configuration file](https://github.com/micro-ROS/micro_ros_setup/blob/foxy/config/host/generic/client-host-colcon.meta) can be optimized with the following modifications:
 
 ```
 {

_docs/tutorials/firststeps/first_application_linux/index.md

@@ -6,7 +6,7 @@ permalink: /docs/tutorials/firststeps/first_application_linux/
 ## Target platform
 
 In this tutorial, you’ll learn the use of micro-ROS with Linux by testing a Ping Pong application.
-In the follow-up tutorial [*First micro-ROS application on an RTOS*](/docs/tutorials/core/first_application_rtos/),
+In the follow-up tutorial [*First micro-ROS application on an RTOS*](/docs/tutorials/firststeps/first_application_rtos/),
 you'll learn how to build and bring this application on a microcontroller running the RTOS NuttX, FreeRTOS, or Zephyr.
 Finally, in the tutorial [*Zephyr Emulator*](/docs/tutorials/advanced/zephyr_emulator/) you'll learn how to test
 a micro-ROS application on a Zephyr emulator.

_docs/tutorials/firststeps/first_application_rtos/freertos.md

@@ -28,7 +28,7 @@ Each app is represented by a folder containing the following files:
 * `app.c`: This file contains the logic of the application.
 * `app-colcon.meta`: This file contains the micro-ROS app specific colcon configuration. Detailed info on how to
   configure the RMW via this file can be found
-  [here](https://micro-ros.github.io/docs/tutorials/core/microxrcedds_rmw_configuration/).
+  [here](https://micro-ros.github.io/docs/tutorials/advanced/microxrcedds_rmw_configuration/).
 
 For the user to create its custom application, a folder `<my_app>` will need to be registered in this location,
 containing the two files just described.

_docs/tutorials/old/add_microros_config/index.md

@@ -9,7 +9,7 @@ permalink: /docs/tutorials/old/add_microros_config/
 |:-----:|:------------:|
 | NuttX |   Dashing   |
 
-In this tutorial, we will see how to set a basic Micro-ROS configuration for NuttX over serial communication. Since this guide is only focused on setting the configuration, you should check the tutorial linked here before: [First micro-ROS Application on an RTOS](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/)
+In this tutorial, we will see how to set a basic Micro-ROS configuration for NuttX over serial communication. Since this guide is only focused on setting the configuration, you should check the tutorial linked here before: [First micro-ROS Application on an RTOS](https://micro-ros.github.io/docs/tutorials/firststeps/first_application_rtos/)
 
 **Disclamer**
 
@@ -76,7 +76,7 @@ make menuconfig
 The menu below should appear:
 ![](images/nuttx_menuconfig.png)
 
-Note: Remember that you should follow this previous tutorial before starting it. [First micro-ROS Application on an RTOS](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/)
+Note: Remember that you should follow this previous tutorial before starting it. [First micro-ROS Application on an RTOS](https://micro-ros.github.io/docs/tutorials/firststeps/first_application_rtos/)
 
 In the menu, you need to set the following configuration.