diff --git a/README.md b/README.md
index 533a1e6..484dd94 100644
--- a/README.md
+++ b/README.md
@@ -104,7 +104,7 @@ The driver can be launched from a remote machine this way:
 
 ```sh
 source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
-ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=0.0.0.0:0
+ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:0
 ```
 
 
@@ -114,7 +114,7 @@ Username and password arguments are required
 for robots running NAOqi 2.9 or greater:
 
 ```sh
-ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=0.0.0.0:0
+ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=tcp://0.0.0.0:0
 ```
 
 
@@ -125,7 +125,7 @@ you must specify the libQi endpoint with, *e.g.* for port 56000:
 
 ```sh
 source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
-ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=0.0.0.0:56000
+ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:56000
 ```
 
 Then you must [expose](https://docs.docker.com/engine/reference/commandline/run/#publish) it from the container.