diff --git a/source/Installation/Alternatives/Ubuntu-Install-Binary.rst b/source/Installation/Alternatives/Ubuntu-Install-Binary.rst
index 04b47cddea7..8a2bef94585 100644
--- a/source/Installation/Alternatives/Ubuntu-Install-Binary.rst
+++ b/source/Installation/Alternatives/Ubuntu-Install-Binary.rst
@@ -92,8 +92,19 @@ Install dependencies using rosdep
    sudo apt install -y python3-rosdep
    sudo rosdep init
    rosdep update
+
+If you want to use Fast DDS or Cyclone DDS
+
+.. code-block:: bash
+
    rosdep install --from-paths ~/ros2_{DISTRO}/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps iceoryx_binding_c rmw_connextdds rti-connext-dds-6.0.1 urdfdom_headers"
 
+If you want to use Connext DDS
+
+.. code-block:: bash
+
+   rosdep install --from-paths ~/ros2_{DISTRO}/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps iceoryx_binding_c rmw_connextdds urdfdom_headers"
+
 .. include:: ../_rosdep_Linux_Mint.rst
 
 Install additional RMW implementations (optional)