micro-ROS · ralph-lange · Feb 10, 2021 · Jan 25, 2021 · Feb 9, 2021 · Feb 9, 2021
diff --git a/_data/docs.yml b/_data/docs.yml
@@ -12,11 +12,11 @@
 
 - title: Client Library
   docs:
-   - concepts/client_library
-   - concepts/client_library/real-time_executor
-   - concepts/client_library/system_modes
-   - concepts/client_library/decision_paper
-   - concepts/client_library/rcutils_analysis
+   - concepts/client_library/introduction
+   - concepts/client_library/features
+   - concepts/client_library/execution_management
+   - concepts/client_library/lifecycle_and_system_modes
+   - concepts/client_library/diagnostics
 
 - title: Middleware
   docs:

diff --git a/_docs/concepts/client_library/decision_paper/allocations_Fast-RTPS.png b/_docs/concepts/client_library/decision_paper/allocations_Fast-RTPS.png
diff --git a/_docs/concepts/client_library/decision_paper/allocations_Micro_XRCE-DDS.png b/_docs/concepts/client_library/decision_paper/allocations_Micro_XRCE-DDS.png
diff --git a/_docs/concepts/client_library/decision_paper/index.md b/_docs/concepts/client_library/decision_paper/index.md
diff --git a/_docs/concepts/client_library/diagnostics/diagnostics_architecture.png b/_docs/concepts/client_library/diagnostics/diagnostics_architecture.png
diff --git a/_docs/concepts/client_library/diagnostics/diagnostics_architecture.pptx b/_docs/concepts/client_library/diagnostics/diagnostics_architecture.pptx
diff --git a/_docs/concepts/client_library/diagnostics/index.md b/_docs/concepts/client_library/diagnostics/index.md
@@ -0,0 +1,18 @@
+---
+title: Diagnostics
+permalink: /docs/concepts/client_library/diagnostics/
+---
+
+Although diagnostics is not part of the ROS 2 Client Library packages (i.e., rclcpp, rclpy), it definitely can be counted to the extended client library as it provides very generic and application-independent functionalities.
+
+That's why the micro-ROS Client Library also comes with basic diagnostics functionalities. These are compatible with ROS 2 diagnostics, but comprise three features only:
+
+* Diagnostic message types (optimized for Micro-XRCE-DDS - no dynamic arrays)
+* Updater mechanisms for rclc
+* Selected basic diagnostic monitors
+
+The micro-ROS diagnostics packages do not provide any aggregation mechanisms as we assume that such aggregation takes place on a microprocessor running standard ROS 2. Hence, we assume the following typical architecture:
+
+<img src="diagnostics_architecture.png" style="display:block; width:60%; margin-left:auto; margin-right:auto;"/>
+
+For more information, please see [https://github.com/micro-ROS/micro_ros_diagnostics/](https://github.com/micro-ROS/micro_ros_diagnostics/).
diff --git a/...e_executor/cbg-executor_sample_system.png → ...management/cbg-executor_sample_system.png b/...e_executor/cbg-executor_sample_system.png → ...management/cbg-executor_sample_system.png
diff --git a/.../cbg-executor_test-bench_architecture.png → .../cbg-executor_test-bench_architecture.png b/.../cbg-executor_test-bench_architecture.png → .../cbg-executor_test-bench_architecture.png
diff --git a/...cutor/cbg-executor_test-bench_results.png → ...ement/cbg-executor_test-bench_results.png b/...cutor/cbg-executor_test-bench_results.png → ...ement/cbg-executor_test-bench_results.png
diff --git a/...-time_executor/cbg_executor_demo_plot.png → ...ion_management/cbg_executor_demo_plot.png b/...-time_executor/cbg_executor_demo_plot.png → ...ion_management/cbg_executor_demo_plot.png
diff --git a/...-time_executor/executor_class_diagram.png → ...ion_management/executor_class_diagram.png b/...-time_executor/executor_class_diagram.png → ...ion_management/executor_class_diagram.png
diff --git a/...utor/executor_to_dds_sequence_diagram.png → ...ment/executor_to_dds_sequence_diagram.png b/...utor/executor_to_dds_sequence_diagram.png → ...ment/executor_to_dds_sequence_diagram.png
diff --git a/...time_executor/fawkes_executor_diagram.png → ...on_management/fawkes_executor_diagram.png b/...time_executor/fawkes_executor_diagram.png → ...on_management/fawkes_executor_diagram.png
diff --git a/...lient_library/real-time_executor/index.md → ...ent_library/execution_management/index.md b/...lient_library/real-time_executor/index.md → ...ent_library/execution_management/index.md
@@ -1,7 +1,9 @@
 ---
-title: Real-Time Executor
-redirect_from: /real-time_executor/
-permalink: /docs/concepts/client_library/real-time_executor/
+title: Execution Management
+permalink: /docs/concepts/client_library/execution_management/
+redirect_from:
+  - /real-time_executor/
+  - /docs/concepts/client_library/real-time_executor/
 ---
 
 

diff --git a/...l-time_executor/meta-executor_concept.png → ...tion_management/meta-executor_concept.png b/...l-time_executor/meta-executor_concept.png → ...tion_management/meta-executor_concept.png
diff --git a/...-time_executor/meta-executor_concept.pptx → ...ion_management/meta-executor_concept.pptx b/...-time_executor/meta-executor_concept.pptx → ...ion_management/meta-executor_concept.pptx
diff --git a/.../real-time_executor/ping_pong_diagram.png → ...xecution_management/ping_pong_diagram.png b/.../real-time_executor/ping_pong_diagram.png → ...xecution_management/ping_pong_diagram.png
diff --git a/...al-time_executor/png/highPriorityPath.png → ...ution_management/png/highPriorityPath.png b/...al-time_executor/png/highPriorityPath.png → ...ution_management/png/highPriorityPath.png
diff --git a/.../real-time_executor/png/scheduling_01.png → ...xecution_management/png/scheduling_01.png b/.../real-time_executor/png/scheduling_01.png → ...xecution_management/png/scheduling_01.png
diff --git a/.../real-time_executor/png/scheduling_02.png → ...xecution_management/png/scheduling_02.png b/.../real-time_executor/png/scheduling_02.png → ...xecution_management/png/scheduling_02.png
diff --git a/...real-time_executor/png/scheduling_LET.png → ...ecution_management/png/scheduling_LET.png b/...real-time_executor/png/scheduling_LET.png → ...ecution_management/png/scheduling_LET.png
diff --git a/...-time_executor/png/sensePlanActScheme.png → ...ion_management/png/sensePlanActScheme.png b/...-time_executor/png/sensePlanActScheme.png → ...ion_management/png/sensePlanActScheme.png
diff --git a/...eal-time_executor/png/sensorFusion_01.png → ...cution_management/png/sensorFusion_01.png b/...eal-time_executor/png/sensorFusion_01.png → ...cution_management/png/sensorFusion_01.png
diff --git a/...eal-time_executor/png/sensorFusion_02.png → ...cution_management/png/sensorFusion_02.png b/...eal-time_executor/png/sensorFusion_02.png → ...cution_management/png/sensorFusion_02.png
diff --git a/...eal-time_executor/png/sensorFusion_03.png → ...cution_management/png/sensorFusion_03.png b/...eal-time_executor/png/sensorFusion_03.png → ...cution_management/png/sensorFusion_03.png
diff --git a/_docs/concepts/client_library/features/index.md b/_docs/concepts/client_library/features/index.md
@@ -0,0 +1,16 @@
+---
+title: Feature List
+permalink: /docs/concepts/client_library/features/
+---
+
+The micro-ROS Client Library, formed by standard [ROS 2 Client Support Library (rcl)](https://github.com/ros2/rcl/) and the new [ROS 2 Client Library package (rclc)](https://github.com/ros2/rclc/), is going to feature all major ROS concepts such as
+
+* Nodes
+* Publishers/subscriptions
+* Services/clients
+* Graph
+* Executor
+* 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/).
diff --git a/_docs/concepts/client_library/index.md b/_docs/concepts/client_library/index.md