diff --git a/README.md b/README.md
index 08c2feed9..65c8a4fce 100644
--- a/README.md
+++ b/README.md
@@ -80,22 +80,11 @@ There exist MoveIt! configuration packages for both robots.
 
 For setting up the MoveIt! nodes to allow motion planning run:
 
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch```
+```roslaunch ur5_moveit_config moveit_planning_execution.launch```
 
 For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
 
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
-NOTE:  
-As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:  
-
-```roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]```
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true```
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
+```roslaunch ur5_moveit_config moveit_rviz.launch```
 
 ___Usage with Gazebo Simulation___  
 There are launch files available to bringup a simulated robot - either UR5 or UR10.  
@@ -105,7 +94,7 @@ Don't forget to source the correct setup shell files and use a new terminal for
 
 To bring up the simulated robot in Gazebo, run:
 
-```roslaunch ur_gazebo ur5.launch```
+```roslaunch ur_gazebo ur5_bringup.launch```
 
 
 ___MoveIt! with a simulated robot___  
@@ -113,20 +102,8 @@ Again, you can use MoveIt! to control the simulated robot.
 
 For setting up the MoveIt! nodes to allow motion planning run:
 
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true```
+```roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true```
 
 For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
 
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
-NOTE:  
-As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:  
-
-```roslaunch ur_gazebo ur5.launch limited:=true```
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true```
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
+```roslaunch ur5_moveit_config moveit_rviz.launch```