Fix broken links

Carlosespicur · Carlosespicur · commit 28128d1ddbfd · 2025-09-16T08:14:08.000Z
Signed-off-by: Carlosespicur &lt;carlosespicur@proton.me&gt;
diff --git a/_docs/concepts/fiware_interoperability/index.md b/_docs/concepts/fiware_interoperability/index.md
@@ -53,15 +53,15 @@ This common representation is provided, user-wise, using IDL definitions, which
 ## SOSS-FIWARE System Handle
 
 The [FIWARE System Handle](https://github.com/eProsima/SOSS-FIWARE/tree/feature/xtypes-support) allows bringing information from and to FIWARE's Context Broker into the SOSS world.
-This [System Handle](https://soss.docs.eprosima.com/en/latest/sh_creation.html) is configured and launched in the same way as any SOSS System Handle.
+This System Handle is configured and launched in the same way as any SOSS System Handle.
 
 Besides the standard information included in any System Handle's configuration (such as system's name and type, which would be `fiware` for this specific System Handle),
 in the case of the FIWARE System Handle users must specify two extra YAML key-value pairs, which are the host's IP and port in which this System Handle will try to connect to an instance of FIWARE's Orion Context Broker.
 
 Regarding more specific details about the implementation, FIWARE does not allow certain characters in its entities names.
 For this reason, if a type defined in the topics section of the configuration file has in its name a /, the FIWARE System Handle will map that character into two underscores.
 This is something important to notice when connecting to ROS2, because in ROS2 most of the types have a / in their names.
-To deal with this issue, using SOSS [remapping](https://soss.docs.eprosima.com/en/latest/yaml_config.html?highlight=remap#remapping) capabilities come in handy.
+To deal with this issue, using SOSS remapping capabilities come in handy.
 
 Of course, given that micro-ROS applications act as a bridge between microcontrollers and the ROS 2 dataspace (using the micro-ROS Agent), FIROS2 should also take care of communicating FIWARE's Context Broker with ROS 2, leveraging the existing [ROS 2 System Handle](https://github.com/eProsima/Integration-Service), which comes natively included into the SOSS package.
 
@@ -119,7 +119,7 @@ This is exactly the situation reflected in the use case that is explained below.
 
 ### Configuration
 
-SOSS must be configured with a [YAML](https://soss.docs.eprosima.com/en/latest/yaml_config.html) file, which tells the program everything it needs to know in order to establish the connection between two or more systems that the user wants.
+SOSS must be configured with a YAML file, which tells the program everything it needs to know in order to establish the connection between two or more systems that the user wants.
 For example, if the user wants to exchange a simple string message between FIWARE and ROS2, the configuration file for SOSS should look as follows:
 
   ```yaml
diff --git a/_docs/concepts/rtos/comparison/index.md b/_docs/concepts/rtos/comparison/index.md
@@ -80,7 +80,7 @@ The comparison regards the features listed below:
 | ROM                                                          | "small footprint"                        | 5 - 10 kB                                                                                                                | "small footprint"                                                                               |
 | **Safety Certification**                                     |                                          |                                                                                                                          |                                                                                                 |
 | Software Development Process DO178B Level A / EUROCAE ED-12B | no                                       | [SafeRTOS: DO178C (Aerspace) by Wittenstein](https://www.highintegritysystems.com/safertos/certification-and-standards/) | no                                                                                              |
-| Functional Safety IEC-61508                                  | no                                       | [SafeRTOS (SIL 3)](https://www.freertos.org/FreeRTOS-Plus/Safety_Critical_Certified/SafeRTOS.shtml)                      | soon                                                                                            |
+| Functional Safety IEC-61508                                  | no                                       | [SafeRTOS (SIL 3)](http://www.openrtos.net/FreeRTOS-Plus/Safety_Critical_Certified/SafeRTOS-Safety-Critical-Certification.shtml)                      | soon                                                                                            |
 | **License**                                                  | BSD                                      | MIT and Commercial                                                                                                       | Apache 2                                                                                        |
 
 <sup>1</sup> Processes, signals, fpe, segmentation, bus errors, timers, file and directory ops, pipes, c library, IO Port Interface
@@ -93,7 +93,7 @@ The comparison regards the features listed below:
 
 <sup>5</sup> XDK is based on a microcontroller of the ARM Cortex M3 EFM32GG390F1024 Giant Gecko family by Silicon Labs. Note that the version used in the XDK is not fully supported by Zephyr.
 
-<sup>6</sup> [Note: Time slicing](https://www.freertos.org/Documentation/161204_Mastering_the_FreeRTOS_Real_Time_Kernel-A_Hands-On_Tutorial_Guide.pdf)
+<sup>6</sup> [Note: Time slicing](https://www.freertos.org/media/2018/161204_Mastering_the_FreeRTOS_Real_Time_Kernel-A_Hands-On_Tutorial_Guide.pdf)
 
 <sup>7</sup> Hardware-support for Networking and Storage often depends on the platform and sometimes packages of hardware-vendors are available, which work for a particular operating system. But it is in general difficult to determine the harware-support of a given RTOS.
 
diff --git a/_docs/overview/ROS_2_feature_comparison/index.md b/_docs/overview/ROS_2_feature_comparison/index.md
@@ -27,7 +27,7 @@ Comparison of micro-ROS features with ROS 2 features. The following list has bee
 | -------------------------------------------------------------- | ------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | Publish/subscribe over topics                                  | <span class="status_flag">&#10003;</span>        | Available, but only fixed-size message types supported to avoid dynamic memory allocations.                                                                                                                                                                                                        |
 | Clients and services                                           | <span class="status_flag">&#10003;</span>        | Available, but only fixed-size message types supported to avoid dynamic memory allocations.                                                                                                                                                                                                        |
-| ROS 1 -- ROS 2 communication bridge                            | <span class="status_flag">&#10003;</span>        | Standard ROS 1 -- ROS 2 bridge or [SOSS-mediate bridge](https://soss.docs.eprosima.com/en/latest/getting_started.html#example-ros1-ros2-communication) can be used via micro-ROS Agent to communicate with micro-ROS nodes.                                                                        |
+| ROS 1 -- ROS 2 communication bridge                            | <span class="status_flag">&#10003;</span>        | Standard ROS 1 -- ROS 2 bridge or SOSS-mediate bridge can be used via micro-ROS Agent to communicate with micro-ROS nodes.                                                                        |
 | Actions                                                        | <span class="status_flag">&#10003;</span>        | Available at RCLC level.                                                                                                                                                                                                                                                                           |
 | Parameters                                                     | <span class="status_flag">&#10003;&#8728;</span> | Parameter server is implemented in micro-ROS Client. Parameter client is not available yet.                                                                                                                                                                                                        |
 | Node Graph                                                     | <span class="status_flag">&#10003;</span>        | Available as in ROS 2.                                                                                                                                                                                                                                                                             |
diff --git a/_docs/overview/ext_tools/index.md b/_docs/overview/ext_tools/index.md
@@ -121,7 +121,7 @@ The modules that exist up to date for integrating into external build systems ar
   <div class="extplatitem_description">
     <div>
         The STM32CubeMX is a graphical tool by ST for configuring STM32 microcontrollers and microprocessors. It enables to optimally program and manipulate the software thanks to a set of utilities that help setting up pinouts, peripherals, and middleware stacks.
-        <i>micro-ROS for STM32CubeMX</i> is based on a <a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/humble/microros_component/Dockerfile">Dockerfile</a> and allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com">STMicroelectronics</a>, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.
+        <i>micro-ROS for STM32CubeMX</i> can be configured using the static library builder <a href="https://hub.docker.com/r/microros/micro_ros_static_library_builder/">docker image</a>  and allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com">STMicroelectronics</a>, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.
         <hr><b>Resources:</b>
         <ul>
             <li><a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils">micro-ROS for STM32CubeMX on GitHub</a></li>
diff --git a/_docs/overview/users_and_clients/index.md b/_docs/overview/users_and_clients/index.md
@@ -39,7 +39,7 @@ partners_list:
     text: Wind River is accelerating digital transformation of critical infrastructure by delivering the technology and expertise that enable the deployment of safe, secure, and reliable IoT systems.
     title: Wind River
     url: www.windriver.com
-  - path: https://www.zephyrproject.org/wp-content/uploads/sites/38/2019/12/zephyr-logo1.png
+  - path: https://www.zephyrproject.org/wp-content/uploads/2023/03/Zephyr_color-10.svg
     text: The Zephyr Project is a Linux Foundation hosted Collaboration Project. It’s an open source effort uniting developers and users in building a best-in-class small, scalable, real-time operating system (RTOS) optimized for resource-constrained devices, across multiple architectures. As an open source project, the community evolves the project to support new hardware, developer tools, sensors, and device drivers.
     title: Zephyr Project
     url: www.zephyrproject.org
@@ -74,7 +74,7 @@ collaborators:
     text: Canonical is a computer software company with products like Ubuntu Linux. The company&#39s goal is to &#39deliver, maintain, secure and sustain open source from cloud to desktop and devices&#39.
     title: Canonical
     url: www.canonical.com
-  - path: https://www.freertos.org/fr-content-src/uploads/2018/07/logo-1.jpg
+  - path: https://www.freertos.org/media/2023/logo.png
     text: FreeRTOS is a market-leading Real-Time Operating system (RTOS) for microcontrollers and small microprocessors. Distributed freely under the MIT open source license, FreeRTOS includes a kernel and a growing set of IoT libraries suitable for use across all industry sectors. FreeRTOS is built with an emphasis on reliability and ease of use.
     title: FreeRTOS
     url: www.freertos.org
diff --git a/_docs/tutorials/core/zephyr_emulator/index.md b/_docs/tutorials/core/zephyr_emulator/index.md
@@ -6,7 +6,7 @@ permalink: /docs/tutorials/core/zephyr_emulator/
 <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
 
 In this tutorial, you'll learn the use of micro-ROS with a **[Zephyr RTOS](https://www.zephyrproject.org/)**
-emulator (also known as [Native POSIX](https://docs.zephyrproject.org/latest/boards/posix/native_posix/doc/index.html))
+emulator (also known as [Native POSIX](https://docs.zephyrproject.org/4.1.0/boards/native/native_posix/doc/index.html))
 by testing a Ping Pong application.
 
 <div>
diff --git a/_posts/2021-10-10-embeddedRTPS.md b/_posts/2021-10-10-embeddedRTPS.md
@@ -2,7 +2,7 @@
 title: embeddedRTPS the new experimental middleware for micro-ROS
 author: Maria Merlan
 ---
-Alexandru Kampmann currently works at the Software for Embedded Systems Research Group, RWTH Aachen University [research profile](https://www.embedded.rwth-aachen.de/doku.php?id=lehrstuhl:mitarbeiter:gurghian), and he is the main contributor of [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS)
+Alexandru Kampmann currently works at the Software for Embedded Systems Research Group, RWTH Aachen University, and he is the main contributor of [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS)
 
 Middleware implementations such as embeddedRTPS, bring the possibility of using RTPS communication layers on mid to high range MCU with networking capabilities.
 
diff --git a/index.html b/index.html
@@ -45,7 +45,7 @@ <h1>micro-ROS</h1>
             <h2 class="header-light regular-pad" style="line-height: 1.3;">micro-ROS puts ROS 2 onto microcontrollers</h2>
         </div>
         <div class="col-md-12 text-center">
-            <h3 class="header-light regular-pad" style="line-height: 1.3; padding-top: 0px; margin-top: 0px;">Contact us: <a href="mailto:info@eProsima.com">info@eProsima.com</a></h2>
+            <h2 class="header-light regular-pad" style="line-height: 1.3; padding-top: 0px; margin-top: 0px;">Contact us: <a href="mailto:info@eProsima.com">info@eProsima.com</a></h2>
         </div>
     </div>
     <hr>
@@ -103,7 +103,8 @@ <h3 class="text-center"><i class="fa fa-question-circle-o" aria-hidden="true" st
             <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://robotics.stackexchange.com/">Robotics StackExchange</a> (tag with <a href="https://robotics.stackexchange.com/questions/tagged/embedded">&ldquo;embedded&rdquo;</a>)</li>
+                <li><a href="https://answers.ros.org/questions/">ROS Answers archive</a>
                 <li><a href="https://micro-ros.slack.com/">micro-ROS Slack Channel</a></li>
             </ul>
 
