micro-ROS · pablogs9 · Mar 1, 2021 · Mar 1, 2021
diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md
@@ -470,7 +470,7 @@ The RCLC Executor is an Executor for C applications and can be used with default
     publishing needs to be atomic
 
 ### Download
-The RCLC-Executor can be downloaded from the [micro-ROS rclc repository](https://github.com/micro-ROS/rclc). In this repository, the [rclc package](https://github.com/micro-ROS/rclc/tree/master/rclc) provides the RCLC-Executor and the [rclc_examples package](https://github.com/micro-ROS/rclc/tree/master/rclc_examples) provides several demos. Further more, the rclc Executor is also available from the [ros2/rclc repository](https://github.com/ros2/rclc).
+The RCLC-Executor can be downloaded from the [micro-ROS rclc repository](https://github.com/ros2/rclc). In this repository, the [rclc package](https://github.com/ros2/rclc/tree/master/rclc) provides the RCLC-Executor and the [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) provides several demos. Further more, the rclc Executor is also available from the [ros2/rclc repository](https://github.com/ros2/rclc).
 
 
 

diff --git a/_docs/overview/ROS_2_feature_comparison/index.md b/_docs/overview/ROS_2_feature_comparison/index.md
@@ -16,9 +16,9 @@ Comparison of micro-ROS features with ROS 2 features. The following list has bee
 
 ROS 2 Feature | | Availability in micro-ROS
 -- | -- | --
-Common core client library that is wrapped by language-specific libraries | <span class="status_flag">&#10003;&#8728;</span> | Use of the client support library [rcl](https://github.com/ros2/rcl/) from ROS 2 as-is. The [rclc](https://github.com/micro-ROS/rclc) package provides convenience functions and an executor for use of rcl+rclc as client library for the C programming language. *Roadmap: migrate all functionalities to the rclc, so as to make it an independent abstraction layer on top of the rcl that serves as user's API.*
+Common core client library that is wrapped by language-specific libraries | <span class="status_flag">&#10003;&#8728;</span> | Use of the client support library [rcl](https://github.com/ros2/rcl/) from ROS 2 as-is. The [rclc](https://github.com/ros2/rclc) package provides convenience functions and an executor for use of rcl+rclc as client library for the C programming language. *Roadmap: migrate all functionalities to the rclc, so as to make it an independent abstraction layer on top of the rcl that serves as user's API.*
 Composition of node components at compile-, link- or dlopen-time | <span class="status_flag">&#10003;</span> | Composition at compile-time only. Composition at runtime would depend highly on the RTOS.
-Support for nodes with managed lifecycles | <span class="status_flag">&#10003;</span> | The [rclc_lifecycle](https://github.com/micro-ROS/rclc/blob/master/rclc_lifecycle/) package provides an `rclc_lifecycle_node` type which bundles an rcl node with the lifecycle state machine as well as corresponding convenience functions.
+Support for nodes with managed lifecycles | <span class="status_flag">&#10003;</span> | The [rclc_lifecycle](https://github.com/ros2/rclc/blob/master/rclc_lifecycle/) package provides an `rclc_lifecycle_node` type which bundles an rcl node with the lifecycle state machine as well as corresponding convenience functions.
 
 ### Seamless integration with ROS 2
 
@@ -63,7 +63,7 @@ Supported Operating Systems | <span class="status_flag">&#10003;</span> | micro-
 Feature | | Availability in micro-ROS
 -- | -- | --
 Demos of an all-ROS 2 mobile robot | <span class="status_flag">&#10003;</span> | Demos of several ROS 2 + micro-ROS robots available. See [https://micro-ros.github.io/docs/tutorials/demos/](https://micro-ros.github.io/docs/tutorials/demos/).
-Support for real-time code | <span class="status_flag">&#10003;</span> | Real-time behaviour is key to micro-ROS typical usages. The [rclc Executor](https://github.com/micro-ROS/rclc/tree/master/rclc) provides mechanisms for implementing real-time-critical applications. At lower levels, the Micro XRCE-DDS library exhibits real-timeness and determinism for being dynamic memory free and for providing functions to perform tasks within well-defined periods of time.
+Support for real-time code | <span class="status_flag">&#10003;</span> | Real-time behaviour is key to micro-ROS typical usages. The [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) provides mechanisms for implementing real-time-critical applications. At lower levels, the Micro XRCE-DDS library exhibits real-timeness and determinism for being dynamic memory free and for providing functions to perform tasks within well-defined periods of time.
 Support for "bare-metal" microcontrollers | <span class="status_flag">&#10003;</span> | Bringing ROS 2 onto MCUs is all that micro-ROS is about. The standard approach to micro-ROS assumes an RTOS underneath (e.g., [FreeRTOS](https://www.freertos.org/), [Zephyr](https://www.zephyrproject.org/), or [NuttX](http://nuttx.apache.org/)). Recent developments aim at loosening this requirement, with the integration into [Arduino IDE](https://github.com/micro-ROS/micro_ros_arduino) being a first step towards true micro-ROS bare-metal support.
 Continuous Integration | <span class="status_flag">&#10003;&#8728;</span> | Currently, the CI for micro-ROS is distributed to GitHub and GitLab. *Until the end of 2020, all CI should be moved migrated completely to the new CI actions of GitHub.* Please note that those packages that are released for standard ROS 2 are also built and tested on [build.ros2.org](http://build.ros2.org/).
 Documentation | <span class="status_flag">&#10003;</span> | High-level documentation at [micro-ros.github.io](https://micro-ros.github.io/). For detailed information please consult the README.md files in the relevant micro-ROS repositories at [github.com/micro-ROS/](https://github.com/micro-ROS/). For information on the middleware implementation, take a look at the [Micro XRCE-DDS documentation](https://micro-xrce-dds.docs.eprosima.com/en/latest/).

diff --git a/_docs/overview/docker_ci_status/index.md b/_docs/overview/docker_ci_status/index.md
@@ -35,7 +35,7 @@ Most repositories can be found in GitHub's micro-ROS organization at [github.com
 | [micro-ROS-Agent](https://github.com/micro-ROS/micro-ROS-Agent) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/dashing)  [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/foxy)                                                                  | Agent (bridge) to ROS 2                                                                                                | [![](https://img.shields.io/github/workflow/status/micro-ROS/micro-ROS-Agent/CI%20micro-ROS%20Agent)](https://github.com/micro-ROS/micro-ROS-Agent/actions?query=workflow%3A%22CI+micro-ROS+Agent%22)                                                               | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-Agent/blob/master/README.md)                 |
 | [micro-ros-msgs](https://github.com/micro-ROS/micro_ros_msgs) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/foxy)                                                                                                                                                                                             | Specific ROS 2 messages used within micro-ROS architecture                                                             | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                                                                        | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/pulls)                                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_msgs/blob/main/README.md)                    |
 | [system_modes](https://github.com/micro-ROS/system_modes) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/system_modes/releases) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/micro-ROS/system_modes/releases)                                                                                | Extension for `rclcpp`                                                                                                 | [![Build Status](https://img.shields.io/github/workflow/status/micro-ROS/system_modes/Test%20system%20modes)](https://github.com/micro-ROS/system_modes/actions?query=workflow%3A%22Test+system+modes%22)                                                           | [![](https://img.shields.io/github/issues/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/pulls)                                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/system_modes/blob/master/README.md)                    |
-| [rclc](https://github.com/micro-ROS/rclc) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/rclc/tree/dashing) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/micro-ROS/rclc/tree/master) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/rclc/tree/master) | Set of convenience functions and additional concepts, such as executor, to extend the capabilities of ROS 2 `rcl` in C | [![Build Status](https://img.shields.io/github/workflow/status/micro-ROS/rclc/CI%20RCLC)](https://github.com/micro-ROS/rclc/actions?query=workflow%3A%22CI+RCLC%22)                                                                                                 | [![](https://img.shields.io/github/issues/micro-ROS/rclc.svg)](https://github.com/micro-ROS/rclc/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rclc.svg)](https://github.com/micro-ROS/rclc/pulls)                                                                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rclc/blob/master/README.md)                            |
+| [rclc](https://github.com/ros2/rclc) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/ros2/rclc/tree/dashing) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/ros2/rclc/tree/master) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/ros2/rclc/tree/master) | Set of convenience functions and additional concepts, such as executor, to extend the capabilities of ROS 2 `rcl` in C | [![Build Status](https://img.shields.io/github/workflow/status/ros2/rclc/CI%20RCLC)](https://github.com/ros2/rclc/actions?query=workflow%3A%22CI+RCLC%22)                                                                                                 | [![](https://img.shields.io/github/issues/ros2/rclc.svg)](https://github.com/ros2/rclc/issues) [![](https://img.shields.io/github/issues-pr/ros2/rclc.svg)](https://github.com/ros2/rclc/pulls)                                                                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/ros2/rclc/blob/master/README.md)                            |
 
 ## Example Application Repositories Status
 

diff --git a/_docs/tutorials/core/create_dds_entities_by_ref/index.md b/_docs/tutorials/core/create_dds_entities_by_ref/index.md
@@ -8,7 +8,7 @@ This tutorial explains the procedure for creating micro-ROS entities using fully
 - By XML (the default option in micro-ROS RMW)
 - By reference
 
-Using the *default option* the micro-ROS user will be able to create entities using RCLC functions such as `rclc_publisher_init_default` for reliable communications or `rclc_publisher_init_best_effort` for best effort communications. Please check [RCLC](https://github.com/micro-ROS/rclc) for an updated list of convenience functions.
+Using the *default option* the micro-ROS user will be able to create entities using RCLC functions such as `rclc_publisher_init_default` for reliable communications or `rclc_publisher_init_best_effort` for best effort communications. Please check [RCLC](https://github.com/ros2/rclc) for an updated list of convenience functions.
 
 For those familiar with the QoS XML format in DDS (click [here](https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/core/policy/policy.html) for detailed information), the underlying QoS profile used by this default mode looks like this: