diff --git a/SROS2_Linux.md b/SROS2_Linux.md
index 7caabd56..66cc5090 100644
--- a/SROS2_Linux.md
+++ b/SROS2_Linux.md
@@ -4,7 +4,7 @@
 
 ### Install from debian packages
 
-First install ROS2 from binaries following [these instructions](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html).
+First install ROS 2 from binaries following [these instructions](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html).
 
 Setup your environment following [these instructions](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html#environment-setup).
 
@@ -19,11 +19,11 @@ You will need to have openssl installed on your machine:
 sudo apt update && sudo apt install libssl-dev
 ```
 
-First install ROS2 from source following [these instructions](https://docs.ros.org/en/rolling/Installation/Ubuntu-Development-Setup.html).
+First install ROS 2 from source following [these instructions](https://docs.ros.org/en/rolling/Installation/Ubuntu-Development-Setup.html).
 
 Note: Fast-RTPS requires an additional CMake flag to build the security plugins so the colcon invocation needs to be modified to pass:
 ```bash
-colcon build --symlink-install --cmake-args -DSECURITY=ON
+colcon build --symlink-install --cmake-args -DSECURITY=ON --packages-select fastrtps rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp rmw_fastrtps_shared_cpp
 ```
 
 ### Additional configuration for RTI Connext
diff --git a/SROS2_MacOS.md b/SROS2_MacOS.md
index 976d1fec..036f2f57 100644
--- a/SROS2_MacOS.md
+++ b/SROS2_MacOS.md
@@ -18,7 +18,7 @@ For convenience you can add this export to your bash_profile.
 
 ### Install from binaries
 
-First install ROS2 from binaries following [these instructions](https://docs.ros.org/en/rolling/Installation/macOS-Install-Binary.html).
+First install ROS 2 from binaries following [these instructions](https://docs.ros.org/en/rolling/Installation/macOS-Install-Binary.html).
 
 
 Setup your environment:
@@ -37,11 +37,11 @@ export OPENSSL_ROOT_DIR=`brew --prefix openssl`
 ```
 For convenience you can add this export to your bash_profile.
 
-Install ROS2 from source following [these instructions](https://docs.ros.org/en/rolling/Installation/macOS-Development-Setup.html).
+Install ROS 2 from source following [these instructions](https://docs.ros.org/en/rolling/Installation/macOS-Development-Setup.html).
 
 Note: Fast-RTPS requires an additional CMake flag to build the security plugins so the colcon invocation needs to be modified to pass:
 ```bash
-colcon build --symlink-install --cmake-args -DSECURITY=ON
+colcon build --symlink-install --cmake-args -DSECURITY=ON --packages-select fastrtps rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp rmw_fastrtps_shared_cpp
 ```
 
 Setup your environment:
diff --git a/SROS2_Windows.md b/SROS2_Windows.md
index 0e1db9e1..53cf0da9 100644
--- a/SROS2_Windows.md
+++ b/SROS2_Windows.md
@@ -4,17 +4,17 @@
 
 ### Install ROS2
 
-#### Install ROS2 from binaries
+#### Install ROS 2 from binaries
 
 Please follow [these instructions](https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html).
 
-#### Install ROS2 from source
+#### Install ROS 2 from source
 
 Please follow [these instructions](https://docs.ros.org/en/rolling/Installation/Windows-Development-Setup.html) and stop at the beginning of "Build the code" section
 
-To build the ROS2 code with security extensions, call:
+To build the ROS 2 code with security extensions, call:
 ```bat
-colcon build --cmake-args -DSECURITY=ON
+colcon build --cmake-args -DSECURITY=ON --packages-select fastrtps rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp rmw_fastrtps_shared_cpp
 ```
 
 ### Install OpenSSL