Initial iron release (#408)

* Initial iron release

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Replace Foxy with Humble and fix links

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Update .github/workflows/generate_api_reference.yml

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

* Fix broken links

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Fix CI

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Remove micro badger

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

---------

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Author: Acuadros95

.github/workflows/generate_api_reference.yml

@@ -10,7 +10,7 @@ on:
 jobs:
   generate_rmw_api_reference:
     runs-on: ubuntu-latest
-    container: ros:foxy
+    container: ros:iron
     steps:
       - uses: actions/checkout@v3
       - run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
@@ -28,10 +28,10 @@ jobs:
             unzip doxybook2-linux-amd64-v1.3.3.zip -d doxybook2
 
             mkdir -p ros2_ws/src; cd ros2_ws
-            git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR
-            git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
-            git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
-            git clone -b foxy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
+            git clone -b ros2 https://github.com/eProsima/Micro-CDR src/Micro-CDR
+            git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
+            git clone -b iron https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
+            git clone -b iron https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
 
             source /opt/ros/$ROS_DISTRO/setup.bash
             colcon build --packages-up-to rmw_microxrcedds --cmake-args -DBUILD_DOCUMENTATION=ON
@@ -50,7 +50,7 @@ jobs:
 
   generate_utils_api_reference:
     runs-on: ubuntu-latest
-    container: ros:foxy
+    container: ros:iron
     steps:
       - uses: actions/checkout@v3
       - run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
@@ -61,14 +61,14 @@ jobs:
         shell: bash
         run: |
           apt update
-          apt install -y doxygen wget git unzip cmake ros-foxy-osrf-testing-tools-cpp
+          apt install -y doxygen wget git unzip cmake ros-iron-osrf-testing-tools-cpp
 
           pushd /
             wget https://github.com/matusnovak/doxybook2/releases/download/v1.3.3/doxybook2-linux-amd64-v1.3.3.zip
             unzip doxybook2-linux-amd64-v1.3.3.zip -d doxybook2
 
             mkdir -p ros2_ws/src; cd ros2_ws
-            git clone -b humble https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities
+            git clone -b iron https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities
 
             source /opt/ros/$ROS_DISTRO/setup.bash
             colcon build --packages-up-to micro_ros_utilities --cmake-args -DBUILD_DOCUMENTATION=ON

_docs/concepts/build_system/external_build_systems/index.md

@@ -27,4 +27,4 @@ Along with this support package, there are [detailed instructions](https://githu
 
 The [micro-ROS for STM32CubeMX](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) package is a set of utilities which enables the seamless configuration, set-up and integration of micro-ROS into an STM32 controller based project. As such, it allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com/content/st_com/en.html">STMicroelectronics</a>.
 
-Its usage is based on Dockers, via a prepared [Dockerfile](https://github.com/micro-ROS/docker/blob/foxy/micro-ROS-static-library-builder/Dockerfile) which eases micro-ROS library generation outside of a ROS 2 environment.
+Its usage is based on Dockers, via a prepared [Dockerfile](https://github.com/micro-ROS/docker/blob/humble/micro-ROS-static-library-builder/Dockerfile) which eases micro-ROS library generation outside of a ROS 2 environment.

_docs/concepts/client_library/execution_management/index.md

@@ -75,7 +75,7 @@ Our approach is to provide a real-time-capable Executor for the rcl+rclc layer (
 
 As the first step, we propose the rclc Executor for the rcl-layer in C programming language with several new features to support real-time and deterministic execution: It supports 1.) user-defined static sequential execution, 2) conditional execution semantics, 3) multi-threaded execution with scheduling configuration, and 4) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). Configuration of scheduling parameters for multi-threaded application accomplishes prioritized execution. The logical execution time concept (LET) provides data synchronization for fixed periodic task scheduling of embedded applications. 
 
-Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the ROS 2 Executor API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Humble release.
+Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the ROS 2 Executor API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Iron release.
 
 
 ## Analysis of rclcpp standard Executor
@@ -581,7 +581,7 @@ The slides can be downloaded [here](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4
 - Multi-threaded executor with assignment of scheduling policies of underlying operating system. [[Pull Request](https://github.com/ros2/rclc/pull/87), pre-print [SLD2021](#SLD2021)].
 
 ### Download
-The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Foxy, Galactic, Humble and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples.
+The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Humble, Iron and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples.
 
 ## Callback-group-level Executor
 

_docs/concepts/client_library/features/index.md

@@ -13,4 +13,4 @@ The micro-ROS Client Library, formed by standard [ROS 2 Client Support Library (
 * Lifecycle
 * Parameters
 
-Most features are already available in the Foxy release. Please see our [Feature Overview page](/docs/overview/features/) for details on the status. To learn developing your own application nodes with rcl + rclc, please head to the corresponding [programming tutorial](/docs/tutorials/programming_rcl_rclc/).
+Most features are already available in the Humble release. Please see our [Feature Overview page](/docs/overview/features/) for details on the status. To learn developing your own application nodes with rcl + rclc, please head to the corresponding [programming tutorial](/docs/tutorials/programming_rcl_rclc/).

_docs/concepts/fiware_interoperability/index.md

@@ -31,7 +31,7 @@ To accomplish this, two different approaches can be taken:
 * Relying on an integration platform that uses a common types language representation, and defines a conversion library from/to the generic type to the specific type of each middleware.
 
 While the first approach might result in a more lightweight tool, it has several flaws, for instance a more difficult maintenance and the incapability of communicating with any other middleware, rather than ROS2 or micro-ROS.
-On the other hand, using an integration service platform, such as [SOSS](https://github.com/eProsima/soss_v2), enables automatically the possibility of communicating with a wide (and growing) set of middlewares, if their System Handle implementation is available.
+On the other hand, using an integration service platform, such as [SOSS](https://github.com/eProsima/Integration-Service), enables automatically the possibility of communicating with a wide (and growing) set of middlewares, if their System Handle implementation is available.
 
 ## SOSS: System-Of-Systems-Synthesizer
 
@@ -63,7 +63,7 @@ For this reason, if a type defined in the topics section of the configuration fi
 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.
 
-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/soss_v2/tree/feature/xtypes-dds/packages/ros2), which comes natively included into the SOSS package.
+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.
 
 This is exactly the situation reflected in the use case that is explained below.
 
@@ -79,7 +79,7 @@ This is exactly the situation reflected in the use case that is explained below.
 
 * Clone the SOSS project into the source subfolder.
   ```bash
-    $ git clone https://github.com/osrf/soss_v2.git src/soss --branch feature/xtypes-dds
+    $ git clone https://github.com/eProsima/Integration-Service.git src/soss --branch feature/xtypes-dds
   ```
 
 * Clone the SOSS-FIWARE project into the source subfolder.