Fixing misleading Zenoh usage in try-some-example #5954 (backport #5957) (#5977)

* Fixing misleading Zenoh usage in try-some-example #5954 (#5957)

* Revert "Enable Zenoh router to make the post-install example work (#5858)"

This reverts commit b684b72.

* Revert "Enable zenohd to make the post-install example work for Ubuntu Debian. (#5860)"

This reverts commit 86d8c1a.

* Added link to RMW implementations page.

(cherry picked from commit ecc26c2)

# Conflicts:
#	source/Installation/RHEL-Install-RPMs.rst
#	source/Installation/Ubuntu-Install-Debs.rst

* resolve conflicts.

Signed-off-by: Tomoya.Fujita <[email protected]>

---------

Signed-off-by: Tomoya.Fujita <[email protected]>
Co-authored-by: Takumi Okamoto <[email protected]>
Co-authored-by: Tomoya.Fujita <[email protected]>

Author: 3 people

source/Installation/RHEL-Install-RPMs.rst

@@ -91,23 +91,14 @@ Try some examples
 
 If you installed ``ros-{DISTRO}-desktop`` above you can try some examples.
 
-First, if you use ``Zenoh`` as the RMW implementation, you will require a router for node discovery and communication.
-
-In one terminal, start the Zenoh router daemon:
-
-.. code-block:: console
-
-   $ source /opt/ros/{DISTRO}/setup.bash
-   $ ros2 run rmw_zenoh_cpp rmw_zenohd
-
-In another terminal, source the setup file and then run a C++ ``talker``\ :
+In one terminal, source the setup file and then run a C++ ``talker``\ :
 
 .. code-block:: console
 
    $ source /opt/ros/{DISTRO}/setup.bash
    $ ros2 run demo_nodes_cpp talker
 
-In a third terminal source the setup file and then run a Python ``listener``\ :
+In another terminal source the setup file and then run a Python ``listener``\ :
 
 .. code-block:: console
 
@@ -118,6 +109,8 @@ You should see the ``talker`` saying that it's ``Publishing`` messages and the `
 This verifies both the C++ and Python APIs are working properly.
 Hooray!
 
+If you want to use other RMW implementations, you can check the :doc:`guide <./RMW-Implementations>`.
+
 Next steps after installing
 ---------------------------
 Continue with the :doc:`tutorials and demos <../../Tutorials>` to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.

source/Installation/Ubuntu-Install-Debs.rst

@@ -99,23 +99,14 @@ Talker-listener
 
 If you installed ``ros-{DISTRO}-desktop`` above you can try some examples.
 
-First, if you use ``Zenoh`` as the RMW implementation, you will require a router for node discovery and communication.
-
-In one terminal, start the Zenoh router daemon:
-
-.. code-block:: console
-
-   $ source /opt/ros/{DISTRO}/setup.bash
-   $ ros2 run rmw_zenoh_cpp rmw_zenohd
-
-In another terminal, source the setup file and then run a C++ ``talker``\ :
+In one terminal, source the setup file and then run a C++ ``talker``\ :
 
 .. code-block:: console
 
    $ source /opt/ros/{DISTRO}/setup.bash
    $ ros2 run demo_nodes_cpp talker
 
-In a third terminal source the setup file and then run a Python ``listener``\ :
+In another terminal source the setup file and then run a Python ``listener``\ :
 
 .. code-block:: console
 
@@ -126,6 +117,8 @@ You should see the ``talker`` saying that it's ``Publishing`` messages and the `
 This verifies both the C++ and Python APIs are working properly.
 Hooray!
 
+If you want to use other RMW implementations, you can check the :doc:`guide <./RMW-Implementations>`.
+
 Next steps after installing
 ---------------------------
 Continue with the :doc:`tutorials and demos <../../Tutorials>` to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.