Update documentation for working with GurumDDS (#4823)

Co-authored-by: gurum <[email protected]>
(cherry picked from commit 1cce6f6)

source/Installation/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.rst

@@ -1,90 +1,82 @@
 .. redirect-from::
 
-    Working-with-GurumNetworks-GurumDDS
+   Working-with-GurumNetworks-GurumDDS
 
 GurumNetworks GurumDDS
 ======================
-
-rmw_gurumdds is a implementation of the ROS middleware interface using GurumNetworks GurumDDS.
-More information about GurumDDS is available on our website: https://gurum.cc/index_eng
+``rmw_gurumdds`` is an implementation of the ROS middleware interface using GurumNetworks GurumDDS. For more information about GurumDDS, visit the `GurumNetworks website <https://gurum.cc/index_eng>`_.
 
 
 Prerequisites
 -------------
+This guide assumes you have completed the ROS 2 environment setup process, either by :doc:`Installing ROS 2 via Deb Packages <../Ubuntu-Install-Debs>` or :doc:`Building ROS 2 from source on Ubuntu <../Alternatives/Ubuntu-Development-Setup>`.
 
-The following description assumes that you have completed the 'Environment setup' process
-from the :doc:`Installing ROS 2 via deb Packages <../Ubuntu-Install-Debs>` or
-from the :doc:`Building ROS 2 on Ubuntu Linux <../Alternatives/Ubuntu-Development-Setup>`.
-
-rmw_gurumdds requires version of GurumDDS-2.8.x.
-Deb packages of GurumDDS are provided in the ROS 2 apt repositories on Ubuntu.
-Windows binary installer of GurumDDS will be supported soon.
+Version Requirements (`see the README for details <https://github.com/ros2/rmw_gurumdds>`_):
 
-GurumDDS requires a license. See the next page: https://gurum.cc/free_trial_eng.html
+================  ================
+ROS 2 Distro      GurumDDS Version
+================  ================
+rolling           >= 3.2.0
+jazzy             >= 3.2.0
+humble            3.1.x
+================  ================
 
-After requesting a trial license, please download the license from the license homepage.
-After getting a license, move it to the following location.
+Deb packages of GurumDDS are provided in the ROS 2 apt repositories on Ubuntu.
+Windows binary installer of GurumDDS will be available soon.
 
-=============  ================
- DDS Version   License Location
-=============  ================
-<= 2.7.2860    /etc/flame
->= 2.7.2861    /etc/gurumnet
-2.8.x          /etc/gurumnet
-=============  ================
+You can obtain a free trial license from the `GurumDDS Free Trial page <https://gurum.cc/free_trial_eng.html>`_.
 
+After acquiring a license, place it in the following location: ``/etc/gurumnet``
 
-Install packages
-----------------
 
-The easiest way is to install from ROS 2 apt repository.
-When ros-{DISTRO}-rmw-gurumdds-cpp is installed, gurumdds-2.8 is also installed.
+Installation
+------------
+Option 1: Install from the ROS 2 apt repository (Recommended)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 .. code-block:: bash
 
    sudo apt install ros-{DISTRO}-rmw-gurumdds-cpp
 
-Build from source code
-----------------------
-
-Building from source code is also another way to install.
+This installs both ``rmw_gurumdds_cpp`` and ``gurumdds``.
 
-First, clone rmw_gurumdds in the ROS 2 workspace source directory.
+Option 2: Build from source code
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+1. Clone the repository
 
 .. code-block:: bash
 
    cd ros2_ws/src
    git clone https://github.com/ros2/rmw_gurumdds -b {DISTRO} ros2/rmw_gurumdds
 
-Then, install necessary packages for GurumDDS.
+2. Install dependencies:
 
 .. code-block:: bash
 
    cd ..
    rosdep install --from src -i --rosdistro {DISTRO}
 
-Finally, run colcon build.
+3. Build the worksapce using Colcon:
 
 .. code-block:: bash
 
    colcon build --symlink-install
 
-Switch to rmw_gurumdds
-------------------------
 
-Switch from other rmw to rmw_gurumdds by specifying the environment variable.
+Switch to rmw_gurumdds
+----------------------
+Switch from other RMW implementations to rmw_gurumdds by setting the environment variable:
 
 .. code-block:: bash
 
    export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
 
-See also: :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`
+For more information on working with multiple RMW implementations, see :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`.
 
-Run the talker and listener
----------------------------
 
-Now run ``talker`` and ``listener`` to test GurumDDS.
-Don't forget to set up environment by setup script.
+Testing the installation
+------------------------
+Run the ``talker`` and ``listener`` nodes to verify your installation:
 
 .. code-block:: bash
 
@@ -93,3 +85,7 @@ Don't forget to set up environment by setup script.
 .. code-block:: bash
 
    ros2 run demo_nodes_cpp listener
+
+If the nodes communicate successfully, your installation is working correctly.
+
+.. note:: Remember to source your ROS 2 setup script before running these commands.