diff --git a/en/ros2/user_guide.md b/en/ros2/user_guide.md
index 4f8ce2287193..bb2d7906b9d1 100644
--- a/en/ros2/user_guide.md
+++ b/en/ros2/user_guide.md
@@ -267,8 +267,8 @@ To create and build the workspace:
    git clone https://github.com/PX4/px4_ros_com.git
    ```
 
-1. __(Optional)__ From PX4 v1.16 (main), include the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) into your workspace by running the following script.
-This step is useful only if using a PX4 and px4_msgs which contain different message versions.
+1. **(Optional)** From PX4 v1.16 (main), include the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) into your workspace by running the following script.
+   This step is needed only if using `px4_msgs` that do not match your target version of PX4.
 
    ```sh
    /path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh ../
@@ -344,7 +344,7 @@ In a new terminal:
    source install/local_setup.bash
    ```
 
-1. __(Optional)__ If the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) was added to the workspace in the previous steps, run the translation node:
+1. **(Optional)** If the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) was added to the workspace when [building the workspace](#building-the-workspace) (step 4), run the translation node:
 
    ```sh
    ros2 run translation_node translation_node_bin