diff --git a/README.md b/README.md
index 0545a7f..528fe27 100644
--- a/README.md
+++ b/README.md
@@ -35,7 +35,7 @@ See http://www.sekisushai.net/ambitools/docs/mic_encoder.html for more infos.
 The following instructions are made for a [Trossen-Robotics WindowX 250](https://www.trossenrobotics.com/widowx-250-robot-arm-6dof.aspx) robotic arm driven with Python-ROS API under Linux Ubuntu.
 
 ## ROS 2 installation
-The robotic arm is driven with ROS (Robot Operating System) 2. To install the latter, follow the [Trossen Robotics instructions](https://www.trossenrobotics.com/docs/interbotix_xsarms/ros_interface/ros2_software_setup.html).
+The robotic arm is driven with ROS (Robot Operating System) 2. To install the latter, follow the [Trossen Robotics instructions](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html).
 Currently, the Humble distribution is used.
 
 ## Robotic Arm Modification
@@ -58,7 +58,7 @@ The script ask several infos to update the interbotix packages files. Also, the
 
 
 ```
-ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=wx250s_custom use_joint_pub_gui:=true
+ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=wx250s_custom use_sim:=true
 ```
 You should see this: