diff --git a/source/Installation/RHEL-Install-RPMs.rst b/source/Installation/RHEL-Install-RPMs.rst
index 0aea71e6fb..5dcad958bc 100644
--- a/source/Installation/RHEL-Install-RPMs.rst
+++ b/source/Installation/RHEL-Install-RPMs.rst
@@ -124,23 +124,14 @@ 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
 
@@ -151,6 +142,8 @@ 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
 ----------
 
diff --git a/source/Installation/Ubuntu-Install-Debs.rst b/source/Installation/Ubuntu-Install-Debs.rst
index 5bf3c7a6d4..41a1e263c3 100644
--- a/source/Installation/Ubuntu-Install-Debs.rst
+++ b/source/Installation/Ubuntu-Install-Debs.rst
@@ -95,23 +95,14 @@ 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
 
@@ -122,6 +113,8 @@ 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
 ----------