diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
index cc88850..66123b1 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
@@ -51,7 +51,7 @@ class RTDEClient
 {
 public:
   RTDEClient() = delete;
-  RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier);
+  RTDEClient(std::string robot_ip, comm::INotifier& notifier);
   ~RTDEClient() = default;
   bool init();
   bool start();
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
index 9d0298e..34edb85 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
@@ -42,9 +42,9 @@ public:
   /*!
    * \brief Constructs a new UrDriver object.
    *
-   * \param ROBOT_IP IP-address under which the robot is reachable.
+   * \param robot_ip IP-address under which the robot is reachable.
    */
-  UrDriver(const std::string& ROBOT_IP);
+  UrDriver(const std::string& robot_ip);
   virtual ~UrDriver() = default;
 
   /*!
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index bf214d4..397687a 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -44,10 +44,10 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
 {
   joint_velocities_ = { { 0, 0, 0, 0, 0, 0 } };
   joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } };
-  std::string ROBOT_IP = robot_hw_nh.param<std::string>("robot_ip", "192.168.56.101");
+  std::string robot_ip = robot_hw_nh.param<std::string>("robot_ip", "192.168.56.101");
 
   ROS_INFO_STREAM("Initializing urdriver");
-  ur_driver_.reset(new UrDriver(ROBOT_IP));
+  ur_driver_.reset(new UrDriver(robot_ip));
 
   if (!root_nh.getParam("hardware_interface/joints", joint_names_))
   {
diff --git a/ur_rtde_driver/src/rtde/rtde_client.cpp b/ur_rtde_driver/src/rtde/rtde_client.cpp
index 302a1c9..455c52a 100644
--- a/ur_rtde_driver/src/rtde/rtde_client.cpp
+++ b/ur_rtde_driver/src/rtde/rtde_client.cpp
@@ -31,8 +31,8 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
-RTDEClient::RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier)
-  : stream_(ROBOT_IP, UR_RTDE_PORT)
+RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier)
+  : stream_(robot_ip, UR_RTDE_PORT)
   , parser_(readRecipe())
   , prod_(stream_, parser_)
   , pipeline_(prod_, PIPELINE_NAME, notifier)
diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
index b1508bb..d5a5ffb 100644
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -118,11 +118,11 @@ def myProg():
 end
 )";
 
-ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
+ur_driver::UrDriver::UrDriver(const std::string& robot_ip)
   : servoj_time_(0.008), servoj_gain_(750), servoj_lookahead_time_(0.03)
 {
   ROS_INFO_STREAM("Initializing RTDE client");
-  rtde_client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_));
+  rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_));
 
   if (!rtde_client_->init())
   {
@@ -132,7 +132,9 @@ ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
   rtde_frequency_ = rtde_client_->getMaxFrequency();
   servoj_time_ = 1.0 / rtde_frequency_;
 
-  comm::URStream<rtde_interface::PackageHeader> stream(ROBOT_IP, 30001);
+  // Open Stream to get own IP
+  // TODO: Open Primary interface to query version and calibration
+  comm::URStream<rtde_interface::PackageHeader> stream(robot_ip, 30001);
   stream.connect();
   std::string local_ip = stream.getIP();