micro-ROS · pablogs9 · Nov 27, 2020 · Nov 24, 2020 · Nov 26, 2020 · Nov 26, 2020
diff --git a/_data/docs.yml b/_data/docs.yml
@@ -31,7 +31,11 @@
    - concepts/rtos/NuttX
    - concepts/rtos/Zephyr
    - concepts/rtos/comparison
-   - concepts/rtos/integration_with_colcon
+
+- title: Build System
+  docs:
+   - concepts/build_system
+   - concepts/build_system/external_build_systems
 
 - title: Benchmarking
   docs:

diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md
@@ -0,0 +1,24 @@
+---
+title: External Build Systems
+permalink: /docs/concepts/build_system/external_build_systems/
+---
+
+Once you have read about the official [**micro_ros_setup** tool](/docs/concepts/build_system/), this page will present some other approaches for building micro-ROS as a module or component integrated into other build systems.
+
+## micro-ROS component for ESP-IDF
+
+The [micro-ROS component for ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component) allows to integrate micro-ROS as a component in an Espressif ESP-IDF Build System. This component allows the user to integrate the micro-ROS API and utilities in an already created ESP-IDF project just by cloning or copying a folder. 
+
+Configuration of the micro-ROS library is based on the `colcon.meta` file. For more details visit the [Git repository](https://github.com/micro-ROS/micro_ros_espidf_component).
+
+## micro-ROS module for Zephyr
+
+The [micro-ROS module for Zephyr](https://github.com/micro-ROS/micro_ros_zephyr_module) allows to integrate micro-ROS as a module in a Zephyr-based project. In detail, it enables to integrate the micro-ROS API and utilities in an existing Zephyr project just by cloning or copying a folder.
+
+The procedure for configuring the built micro-ROS library is based in `colcon.meta`. For more details visit the [Git repository](https://github.com/micro-ROS/micro_ros_espidf_component).
+
+## micro-ROS for Arduino
+
+The [micro-ROS for Arduino](https://github.com/micro-ROS/micro_ros_arduino) support package is a special port of micro-ROS provided as a set of precompiled libraries for specific platforms. The main reason for this approach is that Arduino does not allow the build of a complex library such as micro-ROS, so by using this approach a ready-to-use solution is provided to the Arduino users.
+
+Along with this support package, there are [detailed instructions](https://github.com/micro-ROS/micro_ros_arduino#how-to-build-the-precompiled-library) for rebuilding the micro-ROS for Arduino libraries for users that need to tune the default configuration.
diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md
@@ -0,0 +1,69 @@
+---
+title: micro-ROS Build System
+permalink: /docs/concepts/build_system/
+---
+
+micro-ROS provides two ways of building a micro-ROS application for embedded platforms:
+- _micro_ros_setup:_ integrates and hides the RTOS-specific build tools in few scripts provided as a ROS 2 package.
+_RTOS-specific integrations:_ We have integrated micro-ROS with several RTOS build tools. Click [here](/docs/concepts/build_system/external_build_systems/) to learn more.
+
+**micro_ros_setup** provides a standalone build system in the form of a ROS 2 package for use in any normal ROS 2 workspace. This tool is available in the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository.
+
+The **micro_ros_setup** tool allows compiling and generating images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/).
+
+As the **micro_ros_setup** package can be installed like any other ROS 2 package, its usage will be through the ROS 2 CLI tool. Compiling, generating an image and flashing it on a board can be done just with four ROS 2 commands. A detailed description about the usage of this package can be found in the [tutorial section](/docs/tutorials/core/first_application_rtos/).
+
+### micro-ROS client
+
+Once installed, the build system tool provides some utilities that can be used in order to prepare, build, flash and use a micro-ROS application. The micro-ROS build system is a four-step procedure. In the first step, the user can create a new micro-ROS application by configuring the target hardware and RTOS:
+
+```bash
+# Create step
+ros2 run micro_ros_setup create_firmware_ws.sh [RTOS] [HARDWARE BOARD]
+```
+
+It is possible to obtain a list of the supported hardware by running the command without any argument. By doing so, it is possible to see that along with the RTOSes and hardware supported by micro-ROS this build system also provides with three extra options:
+- By using `zephyr` as RTOS and `host` as hardware name, it is possible to obtain a Zephyr RTOS image with your micro-ROS app that runs in your host computer. 
+- By using just `host` as RTOS, micro-ROS will build a set of [micro-ROS demo applications](https://github.com/micro-ROS/micro-ROS-demos) natively in your host machine. These applications behave just like micro-ROS apps (using the same abstraction layers and middleware implementation) and allow the user to debug and test the applications on a PC.
+- By using `generate_lib` as RTOS it is possible to configure the build system for generating static libraries (`.a`) and a set of headers (`include`) that can be linked in any other external tool. This option requires a valid CMake toolchain.
+
+Once the build system has created the new firmware project, it is possible to configure it using:
+
+```bash
+# Configure step
+ros2 run micro_ros_setup configure_firmware.sh [APP] [OPTIONS]
+```
+
+By running this command without any argument, it will output a list of example applications valid for the selected RTOS.
+Common options available at this configuration step are:
+  - `--transport` or `-t`: `udp`, `serial` or any hardware specific transport label
+  - `--dev` or `-d`: agent string descriptor in a serial-like transport
+  - `--ip` or `-i`: agent IP in a network-like transport
+  - `--port` or `-p`: agent port in a network-like transport
+
+
+Finally, it is possible to build and flash a micro-ROS app using:
+
+```bash
+# Build step
+ros2 run micro_ros_setup build_firmware.sh
+
+# Flash step
+ros2 run micro_ros_setup flash_firmware.sh
+```
+
+### micro-ROS agent
+
+The micro-ROS build system is also able to ease the compilation of the micro-ROS Agent in a ROS 2 workspace by using these commands:
+
+```bash
+# Download micro-ROS-Agent packages
+ros2 run micro_ros_setup create_agent_ws.sh
+ros2 run micro_ros_setup build_agent.sh
+source install/local_setup.bash
+ros2 run micro_ros_agent micro_ros_agent [OPTIONS]
+```
+
+**Tip 1:** To learn use of the micro_ros_setup build system hands-on, please see the [core tutorials](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/).
+
+**Tip 2 :** Remember that the micro-ROS Agent can be also be used with this simple Docker command: `docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy [OPTIONS]`
diff --git a/_docs/concepts/rtos/index.md b/_docs/concepts/rtos/index.md
@@ -21,4 +21,4 @@ By now, micro-ROS supports three RTOSes, which all come with (basic) POSIX imple
 * [NuttX](NuttX/)
 * [Zephyr](Zephyr/)
 
-Most important, we [integrated these RTOSes with the ROS meta build system colcon](integration_with_colcon/).
+Most important, we [integrated these RTOSes with the micro-ROS build system](/docs/concepts/build_system/).
diff --git a/_docs/concepts/rtos/integration_with_colcon/index.md b/_docs/concepts/rtos/integration_with_colcon/index.md
diff --git a/_includes/docs_nav.html b/_includes/docs_nav.html
@@ -13,6 +13,9 @@
   {% if page.path contains "_docs/concepts" and section.title == "RTOS" %}
     {% assign should_show_this_menu = true %}
   {% endif %}
+  {% if page.path contains "_docs/concepts" and section.title == "Build System" %}
+    {% assign should_show_this_menu = true %}
+  {% endif %}
   {% if page.path contains "_docs/concepts" and section.title == "Benchmarking" %}
     {% assign should_show_this_menu = true %}
   {% endif %}