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moveit · Oct 30, 2023 · 1d8e23e · 1d8e23e
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diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst
@@ -85,18 +85,6 @@ Optional: add the previous command to your ``.bashrc``: ::
    not required and often skipped by advanced users who use more than one
    Colcon workspace at a time, but we recommend it for simplicity.
 
-<<<<<<< HEAD
-Switch to Cyclone DDS
-^^^^^^^^^^^^^^^^^^^^^
-
-As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an issue. As a workaround, switch to Cyclone DDS. (Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.) ::
-
-  sudo apt install ros-humble-rmw-cyclonedds-cpp
-  # You may want to add this to ~/.bashrc to source it automatically
-  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-=======
->>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799))
 Next Step
 ^^^^^^^^^
 Nice job! Next we will :doc:`Visualize a robot with the interactive motion planning plugin for RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`
diff --git a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
@@ -7,12 +7,8 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and
 
 Getting Started
 ---------------
-<<<<<<< HEAD
-If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
-=======
 If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`.
 If you followed the Docker Guide, also follow the :ref:`create_colcon_workspace` guide onwards to set up the tutorials.
->>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799))
 
 Step 1: Launch the Demo and Configure the Plugin
 ------------------------------------------------