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@@ -28,25 +28,34 @@ <h1>micro-ROS</h1>
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+    h3 {
+        padding-top: 30px;
+    }
+    hr {
+        margin-bottom: 0px;
+    }
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 <div class="container">
     <div class="row">
-        <div class="col-md-6">
-            <h2 class="header-light regular-pad" style="line-height: 1.3;">&raquo;micro-ROS<br/><span style="color: white;">&raquo;</span>puts ROS 2 onto microcontrollers&laquo;</h2>
+        <div class="col-md-12 text-center">
+            <img style="max-width: 28vw;;" src="img/micro-ROS_big_logo.png" alt="micro-ROS" class="img-responsive center-block">
         </div>
-        <div class="col-md-6 text-center">
-            <img src="img/micro-ROS_big_logo.png" alt="micro-ROS" class="img-responsive">
+        <div class="col-md-12 text-center">
+            <h2 class="header-light regular-pad" style="line-height: 1.3;">micro-ROS puts ROS 2 onto microcontrollers</h2>
         </div>
     </div>
     <hr>
     <div class="row">
         <div class="col-sm-4">
+            <!-- MISSION -->
             <h3 class="text-center"><i class="fa fa-rocket" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Mission</h3>
             <p style="text-align:justify;">Bridging the gap between resource-constrained microcontrollers and larger processors in robotic applications that are based on the Robot Operating Systems.</p>
             <p>
                 <iframe width="356" height="200" src="https://www.youtube.com/embed/slMhPRnBVwM" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
             </p>
+
+            <!-- WHY MCU? -->
             <h3 class="text-center"><i class="fa fa-microchip" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Why Microcontrollers?</h3>
             <p style="text-align:justify;">Microcontrollers are used in almost every robotic product. Typical reasons are:</p>
             <ul style="margin-left: 0; padding-left: 1em;">
@@ -55,8 +64,17 @@ <h3 class="text-center"><i class="fa fa-microchip" aria-hidden="true" style="fon
                 <li>Power saving</li>
             </ul>
             <p style="text-align:justify;">Another important reason is safety, but note that micro-ROS is not developed according to any safety standard.</p>
+            <p style="text-align:justify;">Check our complete <a href="docs/overview/hardware/">supported hardware list</a>.</p>
+
+            <!-- NEWS -->
+            <h3 class="text-center"><i class="fa fa-newspaper-o" aria-hidden="true" style="font-size:180%;">&nbsp;</i>News</h3>
+            <p style="text-align:justify;">Read about the latest developments in our <a href="https://micro-ros.github.io/allposts">blog</a> or attend the next ROS 2 Embedded Working Group Meeting, which take place online on a monthly basis. The meeting link can be found in the <a href="https://index.ros.org/doc/ros2/Governance/#upcoming-ros-events">ROS 2 Events calendar.</a></p>
+            <p>
+                <iframe width="356" height="200" src="https://www.youtube.com/embed/Vbab-YED2Us" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+            </p>
         </div>
         <div class="col-sm-4">
+            <!-- KEY FEATURES -->
             <h3 class="text-center"><i class="fa fa-diamond" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Key Features</h3>
             <ul id="feature_list">
                 <li>Microcontroller-optimized client API supporting all major ROS concepts</li>
@@ -66,59 +84,69 @@ <h3 class="text-center"><i class="fa fa-diamond" aria-hidden="true" style="font-
                 <li>Permissive license</li>
                 <li>Vibrant community and ecosystem</li>
                 <li>Long-term maintainability and interoperability</li>
+                <li><a href="docs/overview/features/">Much more...</a></li>
             </ul>
+
+            <!-- ARCHITECTURE -->
             <h3 class="text-center"><i class="fa fa-cubes" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Architecture</h3>
             <p style="text-align:justify;">The <a href="/docs/overview/features/">architecture of the micro-ROS stack</a> follows the ROS&nbsp;2 architecture. Dark blue components are developed specifically for micro-ROS. Light blue components are taken from the standard ROS 2 stack.</p>
             <p>
                 <a href="/docs/overview/features/"><img src="img/micro-ROS_architecture.png" alt="micro-ROS architecture" style="max-width: 356px;" /></a>
             </p>
+
+            <!-- QUESTIONS -->
+            <h3 class="text-center"><i class="fa fa-question-circle-o" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Questions</h3>
+            <p style="text-align:justify;">We are looking forward to answer your questions on concepts and development! You have the choice:</p>
+            <ul style="margin-left: 0; padding-left: 1em;">
+                <li><a href="https://discourse.ros.org/c/embedded">ROS Discourse</a> (in category <a href="https://discourse.ros.org/c/embedded">&ldquo;embedded&rdquo;</a>)</li>
+                <li><a href="https://answers.ros.org/">ROS Answers</a> (tag with <a href="https://answers.ros.org/questions/scope:all/sort:activity-desc/tags:embedded/">&ldquo;embedded&rdquo;</a>)</li>
+                <li><a href="https://micro-ros.slack.com/">micro-ROS Slack Channel</a></li>
+            </ul>
+
+            <div id="CommunityInviter"></div>
+
         </div>
         <div class="col-sm-4">
+            <!-- GETTING STARTED -->
             <h3 class="text-center"><i class="fa fa-pencil" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Getting Started</h3>
             <p style="text-align:justify;">Our <a href="/docs/tutorials/">tutorials</a> and <a href="/docs/tutorials/demos/">demos</a> give you a quick start with micro-ROS. The <a href="/docs/tutorials/core/first_application_linux/">basic tutorials</a> can even be completed without a microcontroller.</p>
             <p>
                 <iframe width="356" height="200" src="https://www.youtube.com/embed/wgIKGUGSX7Y" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
             </p>
+
+            <!-- COMMERTIAL SUPPORT -->
+            <h3 class="text-center"><i class="fa fa-cog" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Commercial support</h3>
+            <p style="text-align:justify;"><a href="https://www.eprosima.com">eProsima</a> provides <a href="https://www.eprosima.com/index.php/services-all">commercial support</a> to boost micro-ROS projects:</p>
+            <ul id="feature_list">
+                <li>Port micro-ROS to your platform (HW, RTOS, transport).</li>
+                <li>Efficient & reliable communication layer between μC and DDS Data Space (ROS 2)</li>
+                <li>Customized features development</li>
+                <li>Architectural studies</li>
+            </ul>
+
+            <!-- SOURCE CODE -->
             <h3 class="text-center"><i class="fa fa-code-fork" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Source Code</h3>
             <p style="text-align:justify;">Source code can be found at <a href="https://github.com/micro-ROS/">github.com/micro-ROS</a>. It comes under the permissive license Apache 2.0 just as the standard ROS 2 stack.</p>
             <p style="text-align:justify;">The primary repository is <a href="https://github.com/micro-ROS/micro_ros_setup">micro_ros_setup</a>, which provides command line scripts for creating your first micro-ROS application.</p>
-            <p style="text-align:justify;">Developed an new feature or found a bug? We answer both pull requests and tickets.</p>
-        </div>
-    </div>
-    <div class="row">
-        <div class="col-sm-4">
-            <h3 class="text-center"><i class="fa fa-newspaper-o" aria-hidden="true" style="font-size:180%;">&nbsp;</i>News</h3>
-            <p style="text-align:justify;">Read about the latest developments in our <a href="https://micro-ros.github.io/allposts">blog</a> or attend the next ROS 2 Embedded Working Group Meeting, which take place online on a monthly basis. The meeting link can be found in the <a href="https://index.ros.org/doc/ros2/Governance/#upcoming-ros-events">ROS 2 Events calendar.</a></p>
-            <p>
-                <iframe width="356" height="200" src="https://www.youtube.com/embed/Vbab-YED2Us" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
-            </p>
-        </div>
-        <div class="col-sm-4">
-            <h3 class="text-center"><i class="fa fa-question-circle-o" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Questions</h3>
-            <p style="text-align:justify;">We are looking forward to answer your questions on concepts and development! You have the choice:</p>
-            <ul style="margin-left: 0; padding-left: 1em;">
-                <li><a href="https://discourse.ros.org/c/embedded">ROS Discourse</a> (in category <a href="https://discourse.ros.org/c/embedded">&ldquo;embedded&rdquo;</a>)</li>
-                <li><a href="https://answers.ros.org/">ROS Answers</a> (tag with <a href="https://answers.ros.org/questions/scope:all/sort:activity-desc/tags:embedded/">&ldquo;embedded&rdquo;</a>)</li>
-                <li><a href="https://micro-ros.slack.com/">micro-ROS Slack Channel</a></li>
-            </ul>
-        </div>
-        <div class="col-sm-4">
-            <div id="CommunityInviter"></div>
-            <script>
-                    window.CommunityInviterAsyncInit = function () {
-                        CommunityInviter.init({
-                            app_url:'micro-ros',
-                            team_id:'micro-ros'
-                        })
-                    };
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-                        fjs.parentNode.insertBefore(js, fjs);
-                    }(document, 'script', 'Community_Inviter'));
-            </script>
+            <p style="text-align:justify;">Dockers available for Foxy and Galactic at <a href="https://www.eprosima.com/index.php/downloads-all">eProsima download website</a>.</p>
+            <p style="text-align:justify;">Developed an new feature or found a bug? We answer both Github pull requests and issues.</p>
+
         </div>
     </div>
+    <script>
+          window.CommunityInviterAsyncInit = function () {
+            CommunityInviter.init({
+              app_url:'micro-ros',
+              team_id:'micro-ros'
+           })
+          };
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+    </script>
 </div>