diff --git a/README.md b/README.md
index 2443c0e35..1084c0108 100644
--- a/README.md
+++ b/README.md
@@ -5,8 +5,48 @@
 This repository provides examples for functionalities and capabilities of `ros2_control` framework.
 It consists of simple implementations that demonstrate different concepts.
 
-If you want to have rather step by step manual how to do things with `ros2_control` checkout [ros-control/roscon2022_workshop](https://github.com/ros-controls/roscon2022_workshop) repository.
+If you want to have rather step by step manual how to do things with `ros2_control` checkout the [ros-control/roscon2022_workshop](https://github.com/ros-controls/roscon2022_workshop) repository.
 
+## Content
+
+The following examples are part of this demo repository:
+
+* Example 1: [*RRBot*](example_1)
+
+   *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers.
+
+
+* Example 2: [*DiffBot*](example_2)
+
+   *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
+   The robot is basically a box moving according to differential drive kinematics.
+
+
+* Example 3: ["RRBot with multiple interfaces"](example_3)
+
+   *RRBot* with multiple interfaces.
+
+
+* Example 4: ["Industrial robot with integrated sensor"](example_4)
+
+   *RRBot* with an integrated sensor.
+
+
+* Example 5: ["Industrial Robots with externally connected sensor"](example_5)
+
+   *RRBot* with an externally connected sensor.
+
+* Example 6: ["Modular Robots with separate communication to each actuator"](example_6)
+
+   The example shows how to implement robot hardware with separate communication to each actuator.
+
+* Example 7: "Multi-robot example (tba.)"
+
+* Example 8: ["Using transmissions"](example_8)
+
+   *RRBot* with an exposed transmission interface.
+
+* Example 9: "Gazebo Classic and Gazebo Sim (tba.)"
 
 ## Getting started
 
@@ -41,10 +81,9 @@ Those two world-known imaginary robots are trivial simulations to demonstrate an
 
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
-**Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
-**Rolling - last Focal** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build-last-focal.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
-**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> [![Galactic Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-source-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-source-build.yml?branch=galactic) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
-**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> [![Foxy Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-source-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-source-build.yml?branch=foxy) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
+**Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
+**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> [![Galactic Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-source-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-source-build.yml?branch=galactic) | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html)
+**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> [![Foxy Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-source-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-source-build.yml?branch=foxy) | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html)
 
 ### Explanation of different build types
 
diff --git a/doc/index.rst b/doc/index.rst
index df2dd3d56..5b36d98f7 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -66,7 +66,7 @@ Example Overview
    The example shows how to implement robot hardware with separate communication to each actuator.
 
 
-* Example 8: Using transmissions
+* Example 8: "Using transmissions"
 
    *RRBot* with an exposed transmission interface.
 
diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst
index e92438dd4..d98e8eab1 100644
--- a/example_2/doc/userdoc.rst
+++ b/example_2/doc/userdoc.rst
@@ -46,8 +46,8 @@ The *DiffBot* URDF files can be found in ``description/urdf`` folder.
    .. code-block:: shell
 
     command interfaces
-          left_wheel_joint/velocity [claimed]
-          right_wheel_joint/velocity [claimed]
+          left_wheel_joint/velocity [available] [claimed]
+          right_wheel_joint/velocity [available] [claimed]
     state interfaces
           left_wheel_joint/position
           left_wheel_joint/velocity