micro-ROS · FranFin · Dec 2, 2020 · Nov 24, 2020 · Nov 24, 2020 · Nov 24, 2020
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -27,5 +27,4 @@ ENV DEBIAN_FRONTEND=dialog
 
 # TEST COMMANDS:
 # bundle install
-# bundle exec jekyll serve
 # bundle exec jekyll serve --incremental
diff --git a/_docs/overview/hardware/imgs/NUCLEO-F446ZE.jpg b/_docs/overview/hardware/imgs/NUCLEO-F446ZE.jpg
diff --git a/_docs/overview/hardware/imgs/NUCLEO-F746ZG.jpg b/_docs/overview/hardware/imgs/NUCLEO-F746ZG.jpg
diff --git a/_docs/overview/hardware/imgs/NUCLEO-H743ZI.jpg b/_docs/overview/hardware/imgs/NUCLEO-H743ZI.jpg
diff --git a/_docs/overview/hardware/imgs/arduinodue.jpg b/_docs/overview/hardware/imgs/arduinodue.jpg
diff --git a/_docs/overview/hardware/imgs/arduinozero.jpg b/_docs/overview/hardware/imgs/arduinozero.jpg
diff --git a/_docs/overview/hardware/imgs/opencr10.png b/_docs/overview/hardware/imgs/opencr10.png
diff --git a/_docs/overview/hardware/imgs/teensy32.jpg b/_docs/overview/hardware/imgs/teensy32.jpg
diff --git a/_docs/overview/hardware/imgs/teensy41.jpg b/_docs/overview/hardware/imgs/teensy41.jpg
diff --git a/_docs/overview/hardware/index.md b/_docs/overview/hardware/index.md
diff --git a/_docs/overview/transports/index.md b/_docs/overview/transports/index.md
@@ -5,10 +5,26 @@ permalink: /docs/overview/transports/
 
 micro-ROS uses the resource-optimized [DDS for Extremely Resource Constrained Environments (DDS-XRCE) standard](https://www.omg.org/spec/DDS-XRCE/), implemented by [eProsima's Micro-XRCE-DDS](https://github.com/eProsima/Micro-XRCE-DDS/).
 
-It supports are variety of data link and transport protocols. However, the support depends on the underlying RTOS, as specified in the following table.
+It supports a variety of data link and transport protocols. However, the support depends on the underlying RTOS and selected hardware.
 
-|                                              | Serial UART | Serial USB | UDP over Ethernet | UDP over IEEE 802.11 | 6LoWPAN | Bluetooth |
-| -------------------------------------------- | :---------: | :--------: | :---------------: | :------------------: | :-----: | :-------: |
-| [**FreeRTOS**](https://www.freertos.org/)    |      ✓      |    WIP     |         ✓         |                      |         |     ✓     |
-| [**NuttX**](http://nuttx.apache.org/)        |      ✓      |     ✓      |         ✓         |          ✓           |    ✓    |           |
-| [**Zephyr**](https://www.zephyrproject.org/) |      ✓      |     ✓      |        WIP        |         WIP          |         |           |
+The following table specifies the available transports for the Reference and Tier-2 micro-ROS boards for each officially supported RTOS. You can find detailed information about hardware support [here](/docs/overview/hardware/).
+
+|                    | [**NuttX**](http://nuttx.apache.org/) | [**FreeRTOS**](https://www.freertos.org/) | [**Zephyr**](https://www.zephyrproject.org/) | [Arduino](https://github.com/micro-ROS/micro_ros_arduino) |
+| ------------------ | :-----------------------------------: | :---------------------------------------: | :------------------------------------------: | :---------------------------------------------------------------------: |
+| Olimex STM32-E407  |          USB, UART, Network           |               UART, Network               |                  USB, UART                   |                                    -                                    |
+| ST B-L475E-IOT01A  |                   -                   |                     -                     |              USB, UART, Network              |                                    -                                    |
+| Crazyflie 2.1      |                   -                   |             Custom Radio Link             |                      -                       |                                    -                                    |
+| Espressif ESP32    |                   -                   |              UART, WiFI UDP               |                      -                       |                                    -                                    |
+| Teensy 3.2         |                   -                   |                     -                     |                      -                       |                                USB, UART                                |
+| Teensy 4.0/4.1     |                   -                   |                     -                     |                      -                       |                                USB, UART                                |
+| ROBOTIS OpenCR 1.0 |                   -                   |                     -                     |                      -                       |                                USB, UART                                |
+
+Regarding the **community supported** boards, at the moment of writing the available transports are:
+
+|                  | [**NuttX**](http://nuttx.apache.org/) | [**FreeRTOS**](https://www.freertos.org/) | [**Zephyr**](https://www.zephyrproject.org/) | [Arduino](https://github.com/micro-ROS/micro_ros_arduino) |
+| ---------------- | :-----------------------------------: | :---------------------------------------: | :------------------------------------------: | :---------------------------------------------------------------------: |
+| Arduino Due      |                   -                   |                     -                     |                      -                       |                                USB, UART                                |
+| Arduino Zero     |                   -                   |                     -                     |                      -                       |                                USB, UART                                |
+| ST Nucleo F446ZE |                   -                   |                   UART                    |                      -                       |                                    -                                    |
+| ST Nucleo H743ZI |                   -                   |                   UART                    |                      -                       |                                    -                                    |
+| ST Nucleo F746ZG |                   -                   |                   UART                    |                      -                       |                                    -                                    |
diff --git a/_docs/tutorials/advanced/nuttx/debugging/index.md b/_docs/tutorials/advanced/nuttx/debugging/index.md
@@ -20,8 +20,9 @@ NuttX integration for OpenOCD is relatively new as of the time of writing (early
 
 #### Hardware
 
- * a [supported embedded board](/docs/overview/hardware#evaluation-boards)
- * a [support debugger probe](/docs/overview/hardware#development-tools)
+<!-- Dead links -->
+ * a supported embedded board
+ * a support debugger probe
 
 #### Software
 

diff --git a/_posts/2020-10-01-zephyr_partnership.md b/_posts/2020-10-01-zephyr_partnership.md
@@ -7,7 +7,7 @@ micro-ROS is now an Associate Partner of the [Zephyr Project](https://www.zephyr
 
 <img alt="Zephyr" src="https://upload.wikimedia.org/wikipedia/commons/2/2d/Zephyr-logo.png" width="45%"/>
 
-Zephyr is a scalable open source Real-Time Operating System (RTOS) designed to fit resource constrained and embedded systems, with safety and security in mind. It forms part of [the Linux Foundation](https://www.linuxfoundation.org/), which supports a wide range of open source projects. Zephyr targets the same range of systems and applications with deterministic and time-critical constrains as micro-ROS, such as connected sensors and actuators, microcontrollers and small IoT devices of all kinds. micro-ROS and Zephyr complement each other by allowing to easily create heterogeneous distributed robotic systems and also integrate these devices seamlessly into the ROS 2 ecosystem.
+Zephyr is a scalable open source Real-Time Operating System (RTOS) designed to fit resource constrained and embedded systems, with safety and security in mind. It forms part of [the Linux Foundation](https://www.linuxfoundation.org/), which supports a wide range of open source projects. Zephyr targets the same range of systems and applications with deterministic and time-critical constraints as micro-ROS, such as connected sensors and actuators, microcontrollers and small IoT devices of all kinds. micro-ROS and Zephyr complement each other by allowing to easily create heterogeneous distributed robotic systems and also integrate these devices seamlessly into the ROS 2 ecosystem.
 
 For additional information and the official press release by the Zephyr Project, follow this [link](https://www.zephyrproject.org/google-and-facebook-select-zephyr-rtos-for-next-generation-products/).