diff --git a/_docs/concepts/rtos/comparison/index.md b/_docs/concepts/rtos/comparison/index.md
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--- a/_docs/concepts/rtos/comparison/index.md
+++ b/_docs/concepts/rtos/comparison/index.md
@@ -22,18 +22,18 @@ The comparison regards the features listed below:
* POSIX level support
**Key questions:**
-* Evaluation POSIX-compliance of RTOS.
+* Evaluation POSIX-compliance of RTOS.
* What is the effort in providing an additional layer for non-POSIX RTOS regarding micro-ROS or ROS 2?
* Support of RTOS for specific HW platforms
## Table of Comparisons
-| **OS** | **NuttX** | **FreeRTOS** | **Zephyr** |
+| **OS** | **NuttX** | **FreeRTOS** | **Zephyr** |
| ------------------------------------------------------------ | ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------- |
| **Feature** | | | |
| **Standardization** | | | |
| POSIX | yes | partial | partial |
-| POSIX.1 1 | [yes](http://nuttx.org/) | [wrapper](https://interactive.freertos.org/hc/en-us/community/posts/210029046-POSIX-Wrapper-for-FreeRTOS) | partial |
+| POSIX.1 1 | [yes](http://nuttx.org/) | [wrapper](https://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_POSIX/index.html) | partial |
| POSIX.1b 2 | yes | partial | partial |
| POSIX.1c 3 | yes | yes | partial |
| | | | |
diff --git a/_posts/2021-04-13-ERF2021.md b/_posts/2021-04-13-ERF2021.md
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@@ -0,0 +1,25 @@
+---
+title: micro-ROS at European Robotics Forum 2021
+author: JanStaschulat
+---
+
+On April 13th 2021, we presented micro-ROS at the [European Robotics Forum 2021](https://www.eu-robotics.net/robotics_forum/) in a dedicated workshop organized by several partners of this project. First, Francesca Finoccharo (eProsima) presented in detail the micro-ROS architecture, the supported platforms, several demonstrations and reported on new features: A versatile API for custom transports, continuous fragment mode, static memory pools in the RMW and time synchronization between client and agent:
+
+
+
+Then, Jan Staschulat (Bosch) gave an overview of the RCLC API with a code example and highlighted the deterministic behavior of the RCLC Executor:
+
+
+
+Two customers of micro-ROS presented their industrial use-cases and emphasized the benefit of micro-ROS: First, Anaëlle Sarazin (WYCA Robotics) presented "Elodie and micro-ROS":
+
+
+
+And, secondly, Tomasz Rokosz (Hydra System) presented "micro-ROS enabled GNSS receiver":
+
+
+
+Video of the demo by Hydra System:
+
+
+Finally, a panel discussion with Pablo Garrido Sanchez (eProsima), Alexandre Malki (PIAP), Jan Staschulat (Bosch), Anaëlle Sarazin (WYCA Robotics) and Tomasz Rokosz (Hydra System) stimulated a very lively participation of the audience.
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