diff --git a/examples/cpp/discovery_server/CLIParser.hpp b/examples/cpp/discovery_server/CLIParser.hpp
index 3bd233147c5..e18393117ab 100644
--- a/examples/cpp/discovery_server/CLIParser.hpp
+++ b/examples/cpp/discovery_server/CLIParser.hpp
@@ -252,6 +252,8 @@ class CLIParser
 
         bool uses_ipv6 = false;
         bool listening_address_was_set = false;
+        bool connection_address_was_set = false;
+
         for (int i = 2; i < argc; ++i)
         {
             std::string arg = argv[i];
@@ -323,6 +325,7 @@ class CLIParser
                     {
                         config.srv_config.is_also_client = true;
                     }
+                    connection_address_was_set = true;
                 }
                 else
                 {
@@ -687,11 +690,25 @@ class CLIParser
             }
         }
 
-        if (uses_ipv6
-                && !listening_address_was_set
-                && config.entity == CLIParser::EntityKind::SERVER)
+        // change default values if IPv6 is used
+        // and user did not specified ones
+        if (uses_ipv6)
         {
-            config.srv_config.listening_address = "::1";
+            if (config.entity == CLIParser::EntityKind::SERVER &&
+                    !listening_address_was_set)
+            {
+                config.srv_config.listening_address = "::1";
+            }
+
+            if (!connection_address_was_set)
+            {
+                config.pub_config.connection_address = "::1";
+                config.sub_config.connection_address = "::1";
+                if (config.srv_config.is_also_client)
+                {
+                    config.srv_config.connection_address = "::1";
+                }
+            }
         }
 
         return config;
diff --git a/examples/cpp/discovery_server/ClientPublisherApp.cpp b/examples/cpp/discovery_server/ClientPublisherApp.cpp
index 1643aab8d4d..2d917fe0ece 100644
--- a/examples/cpp/discovery_server/ClientPublisherApp.cpp
+++ b/examples/cpp/discovery_server/ClientPublisherApp.cpp
@@ -115,8 +115,6 @@ ClientPublisherApp::ClientPublisherApp(
         case TransportKind::TCPv4:
         {
             auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv4TransportDescriptor>();
-            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
-            // One listening port must be added either in the pub or the sub
             descriptor_tmp->add_listener_port(0);
             descriptor = descriptor_tmp;
 
@@ -129,8 +127,6 @@ ClientPublisherApp::ClientPublisherApp(
         case TransportKind::TCPv6:
         {
             auto descriptor_tmp = std::make_shared<eprosima::fastdds::rtps::TCPv6TransportDescriptor>();
-            // descriptor_tmp->interfaceWhiteList.push_back(ip_server_address);
-            // One listening port must be added either in the pub or the sub
             descriptor_tmp->add_listener_port(0);
             descriptor = descriptor_tmp;
 
diff --git a/test/examples/test_discovery_server.py b/test/examples/test_discovery_server.py
index 2614aa1739a..278190d86fa 100644
--- a/test/examples/test_discovery_server.py
+++ b/test/examples/test_discovery_server.py
@@ -10,7 +10,10 @@
     ('--connection-port 11500 --samples 10', '--connection-port 11500 --samples 10', '--listening-port 11500 --timeout 5', '--id 2 --listening-port 11400 --timeout 1'),
     ('--transport tcpv4 --samples 10', '--transport tcpv4 --samples 10', '--transport tcpv4 --timeout 5', '--id 2 --listening-port 11400 --timeout 1'),
     ('--connection-ds-id 1 --samples 10', '--connection-ds-id 1 --samples 10', '--id 1 --timeout 5', '--id 2 --listening-port 11400 --timeout 1'),
-    ('--connection-ds-id 1 --samples 10', '--connection-ds-id 2 --connection-port 11400 --samples 10', '--id 1 --timeout 5 --connection-ds-id 2 --connection-port 11400', '--id 2 --listening-port 11400 --timeout 5')
+    ('--connection-ds-id 1 --samples 10', '--connection-ds-id 2 --connection-port 11400 --samples 10', '--id 1 --timeout 5 --connection-ds-id 2 --connection-port 11400', '--id 2 --listening-port 11400 --timeout 5'),
+    ('--transport udpv6 --connection-ds-id 1 --samples 10', '--transport udpv6 --connection-ds-id 2 --connection-port 18000 --samples 10', '--transport udpv6 --id 1 --timeout 5 --connection-ds-id 2 --connection-port 18000', '--transport udpv6 --id 2 --listening-port 18000 --timeout 5'),
+    ('--transport tcpv4 --connection-ds-id 1 --samples 10', '--transport tcpv4 --connection-ds-id 2 --connection-port 18000 --samples 10', '--transport tcpv4 --id 1 --timeout 5 --connection-ds-id 2 --connection-port 18000', '--transport tcpv4 --id 2 --listening-port 18000 --timeout 5'),
+    ('--transport tcpv6 --connection-ds-id 1 --samples 10', '--transport tcpv6  --connection-ds-id 2 --connection-port 18000 --samples 10', '--transport tcpv6 --id 1 --timeout 5 --connection-ds-id 2 --connection-port 18000', '--transport tcpv6 --id 2 --listening-port 18000 --timeout 5')
 ]
 
 @pytest.mark.parametrize("pub_args, sub_args, server1_args, server2_args", discovery_server_test_cases)