Update

Author: Acuadros95

_data/docs.yml

@@ -70,6 +70,7 @@
    - tutorials/programming_rcl_rclc/pub_sub
    - tutorials/programming_rcl_rclc/service
    - tutorials/programming_rcl_rclc/parameters
+   - tutorials/programming_rcl_rclc/executor
    - tutorials/programming_rcl_rclc/qos
    - tutorials/programming_rcl_rclc/micro-ROS
 

_docs/tutorials/programming_rcl_rclc/micro-ROS/micro-ROS.md

@@ -3,31 +3,60 @@ title: micro-ROS utilities
 permalink: /docs/tutorials/programming_rcl_rclc/micro-ROS/
 ---
 
-// TODO
+// TODO: Change section name
 
 - [Time sync](#time-sync)
 - [Ping agent](#ping-agent)
+- [Continous serialization](#continous-serialization)
 
 ## Time sync
+micro-ROS Clients can synchronize their epoch time with the connected Agent, this can be very useful when working in embedded environments that do not provide any time synchronization mechanism. 
+This utility is based on the NTP protocol, taking into account delays caused by the transport layer. An usage example can be found on [`micro-ROS-demos/rclc/epoch_synchronization`](https://github.com/micro-ROS/micro-ROS-demos/blob/galactic/rclc/epoch_synchronization/main.c).
 
 ```c
-bool rmw_uros_epoch_synchronized();
-int64_t rmw_uros_epoch_millis();
-int64_t rmw_uros_epoch_nanos();
-rmw_ret_t rmw_uros_sync_session(const int timeout_ms);
-```
+// Sync timeout
+const int timeout_ms = 1000;
+
+// Synchronize time with the agent
+rmw_uros_sync_session(timeout_ms);
 
+if (rmw_uros_epoch_synchronized()) 
+{
+    // Get time in milliseconds or nanoseconds
+    int64_t time_ms = rmw_uros_epoch_millis();
+    int64_t time_ns = rmw_uros_epoch_nanos();
+}
+```
+  
 ## Ping agent
+The Client can test the connection with the Agent with the ping utility. This functionality can be used even when the micro-ROS context has not yet been initialized, which is useful to test the connection before trying to connect to the Agent. An example can be found on [`micro-ROS-demos/rclc/ping_uros_agent`](https://github.com/micro-ROS/micro-ROS-demos/blob/galactic/rclc/ping_uros_agent/main.c).
 
 ```c
-rmw_ret_t rmw_uros_ping_agent(const int timeout_ms, const uint8_t attempts);
+// Timeout for each attempt
+const int timeout_ms = 1000;
+
+// Number of attemps
+const uint8_t attemps = 5;
+
+// Ping the agent
+rmw_ret_t ping_result = rmw_uros_ping_agent(timeout_ms, attempts);
+
+if (RMW_RET_OK == ping_result) 
+{
+    // micro-ROS Agent is reachable
+    ...
+} 
+else 
+{
+    // micro-ROS Agent is not available
+    ...
+}
 ```
 
-- Init options ??
+*Note: `rmw_uros_ping_agent` is thread safe.*
 
-- Discovery ??
+## Continous serialization
 
-- Continous serialization ??
 -```c
 void rmw_uros_set_continous_serialization_callbacks(
 rmw_publisher_t * publisher,

_docs/tutorials/programming_rcl_rclc/node/node.md

@@ -38,8 +38,6 @@ ROS 2 nodes are the main participants on ROS 2 ecosystem. They will communicate
 
 - Create a node with custom options:
 
-  // TODO: explain possible options
-
   The configuration of the node will also be applied to its future elements (Publishers, subscribers, services, ...).The API used to customize the node options differs between ROS2 distributions:
 
   Foxy: The `rcl_node_options_t` is used to configure the node

_docs/tutorials/programming_rcl_rclc/qos/QoS.md

@@ -43,6 +43,8 @@ In best effort mode no acknowledgement is needed, the messages sent are expected
 
 ## Custom QoS configuration
 
+The user can customize their own QoS using the available `rmw_qos_profile_t` struct:
+  
 ```c
 /// ROS MiddleWare quality of service profile.
 typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
@@ -66,5 +68,4 @@ typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
   /// If true, any ROS specific namespacing conventions will be circumvented.
   bool avoid_ros_namespace_conventions;
 } rmw_qos_profile_t;
-
 ```