From a42994f58106ed151c310ba58b90874246bd9254 Mon Sep 17 00:00:00 2001
From: FranFin <francescafinocchiaro@eprosima.com>
Date: Wed, 31 Mar 2021 10:05:08 +0200
Subject: [PATCH 1/2] Changed title for custom types tutorial.

---
 _docs/tutorials/advanced/create_new_type/index.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/tutorials/advanced/create_new_type/index.md b/_docs/tutorials/advanced/create_new_type/index.md
index 94774a10..9aa806c2 100644
--- a/_docs/tutorials/advanced/create_new_type/index.md
+++ b/_docs/tutorials/advanced/create_new_type/index.md
@@ -1,5 +1,5 @@
 ---
-title: How to create a new micro-ROS message type
+title: How to include a custom ROS message in micro-ROS
 permalink: /docs/tutorials/advanced/create_new_type/
 ---
 

From 40e040058a13ba6bd786d2a68cd5ed9fa6c23d24 Mon Sep 17 00:00:00 2001
From: FranFin <francescafinocchiaro@eprosima.com>
Date: Wed, 31 Mar 2021 10:41:33 +0200
Subject: [PATCH 2/2] Fixed broken link.

---
 _docs/overview/rtos/index.md           | 2 +-
 _docs/tutorials/core/overview/index.md | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/_docs/overview/rtos/index.md b/_docs/overview/rtos/index.md
index b0dd212d..def16752 100644
--- a/_docs/overview/rtos/index.md
+++ b/_docs/overview/rtos/index.md
@@ -110,7 +110,7 @@ Zephyr is a fairly new open-source RTOS, developed in a Linux Foundation Project
         <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/advanced/zephyr_emulator/">First micro-ROS Application on Zephyr Emulator</a></li>
+            <li><a href="https://micro-ros.github.io/docs/tutorials/core/zephyr_emulator/">First micro-ROS Application on Zephyr Emulator</a></li>
         </ul>
     </div>
   </div>
diff --git a/_docs/tutorials/core/overview/index.md b/_docs/tutorials/core/overview/index.md
index 032012be..4ad974bb 100644
--- a/_docs/tutorials/core/overview/index.md
+++ b/_docs/tutorials/core/overview/index.md
@@ -22,6 +22,6 @@ If you are new to micro-ROS, we strongly suggest that you take the tutorials in
 
   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.
 
-* [**Optimizing the Middleware Configuration**](../../advanced/microxrcedds_rmw_configuration/)
+* [**Zephyr Emulator**](../zephyr_emulator/)
 
-  In this tutorial, we'll guide you through the configuration of the middleware between a microcontroller and the micro-ROS agent running on some Linux-based microprocessor, to optimize it for your specific use-case an application.
+  In this tutorial, you'll learn the use of micro-ROS with Zephyr emulator by testing a Ping Pong application.