Latest documentation changes before open-source 💥

README.md

@@ -57,15 +57,15 @@ docker run -it --rm \
   ghcr.io/iit-dlslab/dls2-dev:latest \
   /bin/bash
 ```
-
-## Attach to running container
+Remember that to attach another terminal to the already running container you can do
 
 ```bash
 docker exec -it dls_container /bin/bash
 ```
 
 ## Build
 ```bash
+cd dls2-barebone
 mkdir build && cd build
 cmake ..
 make
@@ -77,24 +77,33 @@ The first compilation takes a bit of time because it needs to compile all the me
 To run a simple node example follow these steps:
 
 * open a shell, run the container and build the code as explained in the "Open docker image" and "Build" sections above.
-```bash
-dls --servers --super
-```
+* Run the fastdds servers and the supervisor
+
+  ```bash
+  dls --servers --super
+  ```
 * open a second terminal, launch the console:
-```bash
-docker exec -it dls_container /bin/bash
-```
-```bash
-dls -lconsole
-```
-load the `hello_world_plugin`
-```bash
-Supervisor::loadPeriodicAppPlugin hello_world_plugin
-```
-and activate the plugin typing: 
-```bash
-hello_world_plugin::activate
-```
+  ```bash
+  docker exec -it dls_container /bin/bash
+  ```
+  ```bash
+  dls -lconsole
+  ```
+* load the `hello_world_plugin`
+  ```bash
+  Supervisor::loadPeriodicAppPlugin hello_world_plugin
+  ```
+  and activate the plugin typing: 
+  ```bash
+  hello_world_plugin::activate
+  ```
+
+  You will see a dummy print in the terminal where you have launched the Supervisor.
+* unload the `hello_world_plugin`
+  ```bash
+  Supervisor::unloadPeriodicAppPlugin hello_world_plugin
+  ```
+* stop DLS2 with `CTRL-C` in any of the terminal
 
 # Contributing
 Feel free to open issues and/or PRs!

docs/index.md

@@ -6,7 +6,8 @@ In modern robotic systems, scalable, flexible, and robust software architectures
 - @subpage md_docs_2CurrentStageOfDevelopment "Current stage of development"
 - @subpage md_docs_2GettingStarted "Getting started"
 - @subpage md_dls2_2doc_2index "DLS2 framework"
+- @subpage md_dls2__msgs_2README "DLS2 messages"
 - @subpage md_robotlib_2README "Robotlib"
-- @subpage md_gluecode_2README "GlueCode"
+- @subpage md_pinocchio-gluecode_2README "GlueCode"
 - @subpage md_visualizers_2README "Visualizers"
 - @subpage md_dls2__ros2__interface_2README "ROS 2 interface"