diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch
index 34582d9c..942a462d 100644
--- a/launch/ur10_bringup.launch
+++ b/launch/ur10_bringup.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
@@ -33,6 +34,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" default="" />
diff --git a/launch/ur10_bringup_compatible.launch b/launch/ur10_bringup_compatible.launch
index 45e0ebdb..749c693e 100644
--- a/launch/ur10_bringup_compatible.launch
+++ b/launch/ur10_bringup_compatible.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
@@ -34,6 +35,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" default="" />
diff --git a/launch/ur10_bringup_joint_limited.launch b/launch/ur10_bringup_joint_limited.launch
index 756807b0..85ff2166 100644
--- a/launch/ur10_bringup_joint_limited.launch
+++ b/launch/ur10_bringup_joint_limited.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
   <arg name="prefix" default="" />
@@ -27,6 +28,7 @@
 
   <include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index e5473557..471bfd67 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -7,6 +7,7 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -26,6 +27,7 @@
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="min_payload" type="double" value="$(arg min_payload)"/>
     <param name="max_payload" type="double" value="$(arg max_payload)"/>
     <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
diff --git a/launch/ur3_bringup.launch b/launch/ur3_bringup.launch
index 22e426bc..0c37dc9c 100644
--- a/launch/ur3_bringup.launch
+++ b/launch/ur3_bringup.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -33,6 +34,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
diff --git a/launch/ur3_bringup_joint_limited.launch b/launch/ur3_bringup_joint_limited.launch
index 5f994f1d..df095559 100644
--- a/launch/ur3_bringup_joint_limited.launch
+++ b/launch/ur3_bringup_joint_limited.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
@@ -27,6 +28,7 @@
 
   <include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
diff --git a/launch/ur3_ros_control.launch b/launch/ur3_ros_control.launch
index c728d34d..d778b808 100644
--- a/launch/ur3_ros_control.launch
+++ b/launch/ur3_ros_control.launch
@@ -7,6 +7,7 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -26,6 +27,7 @@
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="min_payload" type="double" value="$(arg min_payload)"/>
     <param name="max_payload" type="double" value="$(arg max_payload)"/>
     <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
diff --git a/launch/ur5_bringup.launch b/launch/ur5_bringup.launch
index eafad382..780d9bc0 100644
--- a/launch/ur5_bringup.launch
+++ b/launch/ur5_bringup.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
@@ -33,6 +34,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix"  value="$(arg prefix)" />
diff --git a/launch/ur5_bringup_compatible.launch b/launch/ur5_bringup_compatible.launch
index ddd0b926..069c2a6f 100644
--- a/launch/ur5_bringup_compatible.launch
+++ b/launch/ur5_bringup_compatible.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
@@ -34,6 +35,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix"  value="$(arg prefix)" />
diff --git a/launch/ur5_bringup_joint_limited.launch b/launch/ur5_bringup_joint_limited.launch
index 09a0022c..1975d3b6 100644
--- a/launch/ur5_bringup_joint_limited.launch
+++ b/launch/ur5_bringup_joint_limited.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="" />
@@ -27,6 +28,7 @@
 
   <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch
index 964c06d0..d1118e6a 100644
--- a/launch/ur5_ros_control.launch
+++ b/launch/ur5_ros_control.launch
@@ -7,6 +7,7 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -26,6 +27,7 @@
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="min_payload" type="double" value="$(arg min_payload)"/>
     <param name="max_payload" type="double" value="$(arg max_payload)"/>
     <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
@@ -52,4 +54,3 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
 </launch>
-
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
index 37eea204..726f7a1c 100644
--- a/launch/ur_common.launch
+++ b/launch/ur_common.launch
@@ -9,6 +9,7 @@
 <launch>
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip" />
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload" />
   <arg name="max_payload" />
   <arg name="prefix" default="" />
@@ -38,6 +39,7 @@
   <!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
     <param name="prefix" type="str" value="$(arg prefix)" />
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
+    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="use_ros_control" type="bool" value="$(arg use_ros_control)"/>
     <param name="use_lowbandwidth_trajectory_follower" type="bool" value="$(arg use_lowbandwidth_trajectory_follower)"/>
     <param name="min_payload" type="double" value="$(arg min_payload)" />