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+# Overview
+
+The main porpuse for this repo is to organize all packages for the [Micro-ROS Poject]() funcionalities demostrations.
+
+
+# Package clusters
+
+The repository contains the belows packages clusters:
+
+
+## Simple message demostration
+
+### Packages
+
+#### Int32_publisher
+
+The porpuse of the package is to publicate a one of the simplest ROS2 message and demostrate how Micro-ROS down layers (rcl, typesupport and rmw) handle it. 
+For each publication, the message value will be increased in one unit order to see in the subcriber side the menssage variations.
+
+
+#### Int32_subscriber
+
+The porpuse of the package is to subcribe to one of the simplest ROS2 message and demostrate how Micro-ROS down layers (rcl, typesupport and rmw) handle it. 
+
+
+### Run demostration
+
+To run the demostration you have first to build all required packages in a Micro-ROS workspace. 
+To read farther about how to build the Micro-ROS workspace click [here]().
+
+```bash
+cd ~/ros2_ws
+colcon build --cmake-args -DBUILD_SHARED_LIBS=ON --packages-up-to int32_publisher int32_subscriber uros_agent
+```
+
+
+Configure enviroment
+
+```bash
+. ~/ros2_ws/install/local_setup.bash
+```
+
+
+Run the Micro-xrce agent
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888
+```
+
+You may prefert to run the Agent in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888 > /dev/null &
+```
+
+
+Run the publisher.
+
+```bash
+ ~/ros2_ws/install/int32_publisher/lib/int32_publisher/./int32_publisher
+```
+
+You may prefert to run the publisher in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+ ~/ros2_ws/install/int32_publisher/lib/int32_publisher/./int32_publisher > /dev/null &
+```
+
+Run the subcriber.
+
+```bash
+~/ros2_ws/install/int32_subscriber/lib/int32_subscriber/./int32_subscriber
+```
+
+## String message demostration
+
+### Packages
+
+#### string_publisher
+
+The porpuse of the package is to publicate a simple string ROS2 message and demostrate how Micro-ROS down layers (rcl, typesupport and rmw) handle it. 
+For each publication, the message string number will be increased in one unit order to see in the subcriber side the menssage variations.
+
+
+#### String_subscriber
+
+The porpuse of the package is to subcribe to a simple string ROS2 message and demostrate how Micro-ROS down layers (rcl, typesupport and rmw) handle it. 
+
+
+### Run demostration
+
+To run the demostration you have first to build all required packages in a Micro-ROS workspace. 
+To read farther about how to build the Micro-ROS workspace click [here]().
+
+```bash
+cd ~/ros2_ws
+colcon build --cmake-args -DBUILD_SHARED_LIBS=ON --packages-up-to string_publisher string_subscriber uros_agent
+```
+
+Configure enviroment
+
+```bash
+. ~/ros2_ws/install/local_setup.bash
+```
+
+
+Run the Micro-xrce agent
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888
+```
+
+You may prefert to run the Agent in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888 > /dev/null &
+```
+
+
+Run the publisher.
+
+```bash
+ ~/ros2_ws/install/string_publisher/lib/string_publisher/./string_publisher
+```
+
+You may prefert to run the publisher in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+ ~/ros2_ws/install/string_publisher/lib/string_publisher/./string_publisher > /dev/null &
+```
+
+Run the subcriber.
+
+```bash
+~/ros2_ws/install/string_subscriber/lib/string_subscriber/./string_subscriber
+```
+
+
+## Complex message demostration
+
+### Packages
+
+#### complex_msg
+
+One of the porpuses of the package is to demostrate how typesupport code is generated for a complex message. 
+Also, the generation of a complex ROS2 structure message will be used to demostrate how down layers (rcl, typesupport and rmw) handle it. 
+The message structure content the following types:
+- All primitive data types.
+- Nesting menssage data.
+- Unbonded string data.
+
+
+#### Complex_msg_publisher
+
+The porpuse of the package is to publicate a complex ROS2 message and demostrate how Micro-ROS down layers (rcl, typesupport and rmw) handle it. 
+For each publication, the message values will be increased in one unit order to see in the subcriber side the menssage variations.
+
+
+#### Complex_msg_subscriber
+
+The porpuse of the package is to subcribe a complex ROS2 message and demostrate how Micro-ROS down layers (rcl, typesupport and rmw) handle it. 
+
+
+### Run demostration
+
+To run the demostration you have first to build all required packages in a Micro-ROS workspace. 
+To read farther about how to build the Micro-ROS workspace click [here]().
+
+```bash
+cd ~/ros2_ws
+colcon build --cmake-args -DBUILD_SHARED_LIBS=ON --packages-up-to complex_msgs complex_msg_publisher complex_msg_subscriber uros_agent
+```
+
+Configure enviroment
+
+```bash
+. ~/ros2_ws/install/local_setup.bash
+```
+
+
+Run the Micro-xrce agent
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888
+```
+
+You may prefert to run the Agent in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888 > /dev/null &
+```
+
+
+Run the publisher.
+
+```bash
+ ~/ros2_ws/install/complex_msg_publisher/lib/complex_msg_publisher/./complex_msg_publisher
+```
+
+You may prefert to run the publisher in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+ ~/ros2_ws/install/complex_msg_publisher/lib/complex_msg_publisher/./complex_msg_publisher > /dev/null &
+```
+
+Run the subcriber.
+
+```bash
+~/ros2_ws/install/complex_msg_subscriber/lib/complex_msg_subscriber/./complex_msg_subscriber
+```
+
+
+## Real aplication demostration
+
+This purpuse of the packages is to demostrate Micro-Ros stack can be used in a real aplication scenario. 
+In this demostration an altitude control system will be simulated.
+The main purpuse of this is to see how Micro-Ros comunicates with Ros2 nodes.
+
+For farther information about this demostration click [here]()
+
+
+### Packages
+
+#### RAD0_actuator
+
+The mission of this node is to simulate a dummy altitude engine power actuator. 
+It will receive power increments and publicate the total power amount as a DDS topic.
+
+The node will be built using the Micro-Ros middleware packages (rmw_micro_xrcedds and rosidl_typesupport_microxrcedds).
+
+It is meant to be running in on a microcontroller processor but for this demostration, the node will run on the host PC.
+The node will be conected to the DDS world throw a micro-xrce-agent.
+
+
+#### RAD0_altitude_sensor
+
+The mission of this node is to simulate a dummy altitude sensor. 
+It will publicate the altitude variations as a DDS topic.
+
+The node will be built using the Micro-Ros middleware packages (rmw_micro_xrcedds and rosidl_typesupport_microxrcedds).
+
+It is meant to be running in on a microcontroller processor but for this demostration, the node will run on the host PC.
+The node will be conected to the DDS world throw a micro-xrce-agent.
+
+
+#### RAD0_control
+
+The mission of this node is to read altitude values and send to the actuator engine variations.
+It also will publicate the status (OK, WARNING or FAILURE) as a DDS topic.
+The status will depend on the altitude value. 
+
+The node will be built using the ROS2 middleware packages (rmw_fastrtps and rosidl_typesupport_fastrtps).
+
+It is meant to be running in on a microcontroler processor and will be directly conected to de dds wold.
+
+#### RAD0_display
+
+The mission of this node is to simulate one LCD screen that will print the important parameters. 
+It will subcribe to the altitude, power and status messages availables as a DDS topic.
+
+The node will be built using the Micro-Ros middleware packages (rmw_micro_xrcedds and rosidl_typesupport_microxrcedds).
+
+It is meant to be running in on a microcontroller processor but for this demostration, the node will run on the host PC.
+The node will be conected to the DDS world throw a micro-xrce-agent.
+
+
+### Run demostration
+
+Note: For this demostraton you need at least two open termninals, one for the Micro-ROS workspace and the other for the ROS2 workspace.
+
+#### Micro-ROS nodes
+
+To run the demostration you have first to build all required packages in a Micro-ROS workspace. 
+To read farther about how to build the Micro-ROS workspace click [here]().
+
+
+```bash
+cd ~/ros2_ws
+colcon build --cmake-args -DBUILD_SHARED_LIBS=ON --packages-up-to rad0_actuator rad0_display rad0_altitude_sensor uros_agent
+```
+
+Configure enviroment
+
+```bash
+. ~/ros2_ws/install/local_setup.bash
+```
+
+
+Run the Micro-xrce agent
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888
+```
+
+You may prefert to run the Agent in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+cd ~/ros2_ws/install/micrortps_agent/bin
+./MicroRTPSAgent udp 8888 > /dev/null &
+```
+
+Run the altitude_sensor node.
+
+```bash
+ ~/ros2_ws/install/rad0_altitude_sensor/lib/rad0_altitude_sensor/./rad0_altitude_sensor
+```
+
+You may prefert to run the publisher in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+ ~/ros2_ws/install/rad0_altitude_sensor/lib/rad0_altitude_sensor/./rad0_altitude_sensor > /dev/null &
+```
+
+Run the actitude node.
+
+```bash
+ ~/ros2_ws/install/rad0_actuator/lib/rad0_actuator/./rad0_actuator
+```
+
+You may prefert to run the publisher in background and discatr all output in order still using the terminal for the next step.
+
+```bash
+ ~/ros2_ws/install/rad0_actuator/lib/rad0_actuator/./rad0_actuator > /dev/null &
+```
+
+Run the display node.
+
+```bash
+~/ros2_ws/install/rad0_display/lib/rad0_display/./rad0_display
+```
+
+#### ROS2 nodes
+
+To run the demostration you have first to build all required packages in a ROS2 workspace. 
+To read farther about how to build the ROS2 workspace click [here]().
+
+
+```bash
+cd ~/ros2_ws
+colcon build --packages-up-to rad0_control
+```
+
+Configure enviroment
+
+```bash
+. ~/ros2_ws/install/local_setup.bash
+```
+
+Run the display node.
+
+```bash
+ros2 run control control &
+```