Fixed links to programming with rcl and rclc tutorial section.

Author: ralph-lange

_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/programming_rcl_rclc/).

_docs/tutorials/core/overview/index.md

@@ -6,9 +6,7 @@ redirect_from:
   - /docs/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:
+This chapter provides a number of tutorials to learn micro-ROS and relevant tools for the different RTOSes supported by micro-ROS. If you are new to micro-ROS, we strongly suggest that you take the tutorials in the following order:
 
 * [**First micro-ROS application on Linux**](../first_application_linux/)
 
@@ -18,14 +16,16 @@ If you are new to micro-ROS, we strongly suggest that you take the tutorials in
 
   In this tutorial, you will learn how to build the application from the previous tutorial for an Real-Time Operating System (RTOS). You will see how to flash a microcontroller board with the application and how to communicate with it from a microprocessor running ROS 2 on Linux. (The tutorial covers all three RTOS supported by micro-ROS, namely NuttX, FreeRTOS, and Zephyr. The choice is up to you!)
 
-* [**Programming with rcl and rclc**](../programming_rcl_rclc/)
+Then, at this point, you may head over to the next section [**Programming with rcl and rclc**](../../programming_rcl_rclc/), where 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.
 
-  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.
+In case you are using the corresponding RTOS or hardware, the following basic tutorials may be interesting before switching to the [**Programming with rcl and rclc**](../../programming_rcl_rclc/) section:
 
 * [**Zephyr Emulator**](../zephyr_emulator/)
 
   In this tutorial, you'll learn the use of micro-ROS with Zephyr emulator by testing a Ping Pong application.
 
 * [**Teensy with Arduino**](../teensy_with_arduino/)
 
-  In this tutorial you will learn how to connect Teensy with micro-ROS and ROS2. You will also learn how to install micro-ROS agent in linux systems to communicate with Teensy based arduino board using Arduino IDE. This tutorial will also cover a simple publisher topic published from teensy and subscribed using ROS2 interface. 
+  In this tutorial you will learn how to connect Teensy with micro-ROS and ROS 2. You will also learn how to install micro-ROS agent in linux systems to communicate with Teensy based arduino board using Arduino IDE. This tutorial will also cover a simple publisher topic published from teensy and subscribed using ROS2 interface. 
+
+ In the [**Advanced Tutorials**](../../advanced/overview/) section, you'll find more advanced tutorials to strenghten your micro-ROS knowledge.

_docs/tutorials/programming_rcl_rclc/service/services.md

@@ -4,7 +4,7 @@ permalink: /docs/tutorials/programming_rcl_rclc/service/
 ---
 
 <img src="https://img.shields.io/badge/Written_for-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/>
-  
+
 ROS 2 services are another communication mechanism between nodes. Services implement a client-server paradigm based on ROS 2 messages and types. Further information about ROS 2 services can be found [here](https://index.ros.org/doc/ros2/Tutorials/Services/Understanding-ROS2-Services/)
 
 Ready to use code related to this concepts can be found in [`micro-ROS-demos/rclc/addtwoints_server`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/addtwoints_server/main.c) and [`micro-ROS-demos/rclc/addtwoints_client`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/addtwoints_client/main.c) folders. Fragments of code from this examples are used on this tutorial.