Update getting_started.rst (#377) (#382)

(cherry picked from commit cc466d2)

Co-authored-by: CHRISTY JO MANTHARA <100943241+christymanthara@users.noreply.github.com>

doc/getting_started/getting_started.rst

@@ -9,8 +9,23 @@ Installation
 
 Binary packages
 ------------------
-The ros2_control framework is released for ROS 2 {DISTRO}.
-To use it, you have to install ``ros-{DISTRO}-ros2-control`` and ``ros-{DISTRO}-ros2-controllers`` packages.
+The ros2_control framework is released for ROS 2 {DISTRO} on Ubuntu and RHEL according to `REP-2000 <https://www.ros.org/reps/rep-2000.html>`__.
+To use it, you have to install ``ros-{DISTRO}-ros2-control`` and ``ros-{DISTRO}-ros2-controllers`` packages, e.g., by running the following commands:
+
+For Ubuntu deb packages
+
+  .. code-block:: shell
+
+    sudo apt install ros-{DISTRO}-ros2-control ros-{DISTRO}-ros2-controllers
+
+For RHEL (RPM) packages
+
+  .. code-block:: shell
+
+    sudo dnf install ros-{DISTRO}-ros2-control ros-{DISTRO}-ros2-controllers
+
+
+
 
 Building from Source
 ---------------------------