diff --git a/src/ros_lib/RosQtSocket.cpp b/src/ros_lib/RosQtSocket.cpp
index 2ef6e1a..e3286e2 100644
--- a/src/ros_lib/RosQtSocket.cpp
+++ b/src/ros_lib/RosQtSocket.cpp
@@ -87,6 +87,11 @@ unsigned long RosQtSocket::time()
   return static_cast<unsigned long>(QDateTime::currentMSecsSinceEpoch());
 }
 
+QString RosQtSocket::getAddress() const
+{
+  return address_.toString();
+}
+
 void RosQtSocket::onConnected()
 {
   socket_.setSocketOption(QAbstractSocket::LowDelayOption, 1);
diff --git a/src/ros_lib/ros/RosQtSocket.h b/src/ros_lib/ros/RosQtSocket.h
index 4dfb26e..19f7103 100644
--- a/src/ros_lib/ros/RosQtSocket.h
+++ b/src/ros_lib/ros/RosQtSocket.h
@@ -1,9 +1,9 @@
 /**
 Software License Agreement (BSD)
 
-\file      RosQtSocket.h
-\authors   Robin Vanhove <r.vanhove@robopec.com>
-\copyright Copyright (c) 2017, Robopec, All rights reserved.
+\file      WindowsSocket.h
+\authors   Kareem Shehata <kshehata@clearpathrobotics.com>
+\copyright Copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that
 the following conditions are met:
@@ -53,6 +53,8 @@ class RosQtSocket : public QObject
 
   unsigned long time ();
 
+  QString getAddress() const;
+
 private slots:
   void onConnected();
 
diff --git a/src/ros_lib/ros/node_handle.h b/src/ros_lib/ros/node_handle.h
index 8c87087..681d951 100644
--- a/src/ros_lib/ros/node_handle.h
+++ b/src/ros_lib/ros/node_handle.h
@@ -108,6 +108,11 @@ class NodeHandle : public NodeHandleBase_
   /* Disconnect from server */
   void close();
 
+  RosQtSocket& getHardware()
+  {
+    return hardware_;
+  }
+
 protected:
   //State machine variables for spinOnce
   int mode_;