How to Upgrade ElasticSearch v2.1.0 to v5.2.2?

we are using elasticserach v2.1.0 on production server(centos 7, 64bit).
we need to upgrade to v5.2.2.
i don't see any upgrade scripts from elasticsearch website or other sources.
i have followed ElasticSearch Upgrade documentation:
https://www.elastic.co/guide/en/elasticsearch/reference/current/setup-upgrade.html

i stuck on upgrade_note section
https://www.elastic.co/guide/en/elasticsearch/reference/current/rolling-upgrades.html#upgrade-node
i don't see much details about 'Section: 3 Stop and upgrade a single node"

i am getting few exception while installing 'rpm -ivh v5.2.2' on elasticsearch box(v2.1.0 running)
can you please help/share upgrade process steps/script if available.
Thanks

You will need to follow https://www.elastic.co/guide/en/elasticsearch/reference/current/restart-upgrade.html as you cannot do rolling upgrades between major versions.

direct upgrade procedure is not available in shared link.
elasticsearch v2.1.0 is running on centos7 machine.
i want to upgrade to ealsticsearch v5.2.2
i have used 'Installing from the RPM repository' section
URL: https://www.elastic.co/guide/en/elasticsearch/reference/current/rpm.html
sudo yum install elasticsearch
is worked well, but it is always download/upgrading latest elasticsearch i.e. 5.3+ not 5.2.2
hence i have following below section steps.
Download and install the RPM manually
i have seen couple of exception as described above, hence i have uninstalled elasticsearchv2.1.0 and installed new version v5.2.2. it works well.
is above approach correct? let me know your thoughts.