@@ -3,7 +3,44 @@ title: Programming with rcl and rclc
 permalink: /docs/tutorials/core/programming_rcl_rclc/
 ---
 
-## Programming client/service with rcl
+In this tutorial, you'll learn the basics of the micro-ROS C API. The major concepts (publishers, subscriptions, services,timers, ...) are identical with ROS 2. They even rely on the *same* implementation, as the micro-ROS C API is based on the ROS 2 client support library (rcl), enriched with a set of convenience functions by the package [rclc](https://github.com/micro-ROS/rclc/). That is, rclc does not add a new layer of types on top of rcl (like rclcpp and rclpy do) but only provides functions that ease the programming with the rcl types. New types are introduced only for concepts that are missing in rcl, such as the concept of an executor.
+
+* [Creating a node](#node)
+* [Publishers and subscriptions](#pub_sub)
+* [Services](#services)
+* [Timers](#timers)
+* [Rclc Executor](#rclc_executor)
+
+
+## <a name="node"/>Creating a Node
+
+To simplify the creation of a node with rcl, rclc provides two functions `rclc_support_init(..)` and `rclc_node_init_default(..)` in [rclc/init.h](https://github.com/micro-ROS/rclc/blob/master/rclc/include/rclc/init.h) and [rclc/node.h](https://github.com/micro-ROS/rclc/blob/master/rclc/include/rclc/node.h), respectively. The first lines of the main function of a micro-ROS programm are:
+
+```c
+rcl_allocator_t allocator = rcl_get_default_allocator();
+rclc_support_t support;
+rcl_ret_t rc;
+
+rc = rclc_support_init(&support, argc, argv, &allocator);
+if (rc != RCL_RET_OK) {
+  ...  // Some error reporting.
+  return -1;
+}
+
+rcl_node_t my_node = rcl_get_zero_initialized_node();
+rc = rclc_node_init_default(&my_node, "my_node_name", "my_namespace", &support);
+if (rc != RCL_RET_OK) {
+  ...  // Some error reporting.
+  return -1;
+}
+```
+
+
+## <a name="pub_sub"/>Publishers and Subscriptions
+
+
+
+## <a name="services"/>Services
 
 ROS 2 services is another communication mechanism between nodes. Services implement a client-server paradigm based on ROS 2 messages and types. Further information about ROS 2 services can be found [here](https://index.ros.org/doc/ros2/Tutorials/Services/Understanding-ROS2-Services/)
 
@@ -120,3 +157,11 @@ while(1){
     }
 }
 ```
+
+
+
+## <a name="timers"/>Timers
+
+
+## <a name="rclc_executor"/>Rclc Executor
+