diff --git a/src/ur/server.cpp b/src/ur/server.cpp
index be19ae0..4da9b2c 100644
--- a/src/ur/server.cpp
+++ b/src/ur/server.cpp
@@ -60,10 +60,14 @@ bool URServer::accept()
 
   struct sockaddr addr;
   socklen_t addr_len;
-  int client_fd = ::accept(getSocketFD(), &addr, &addr_len);
+  int client_fd = -1;
 
-  if (client_fd <= 0)
-    return false;
+  int retry = 0;
+  while((client_fd = ::accept(getSocketFD(), &addr, &addr_len)) == -1){
+    ROS_ERROR_STREAM("Accepting socket connection failed. (errno: " << errno << ")");
+    if(retry++ >= 5)
+      return false;
+  }
 
   setOptions(client_fd);
 
@@ -81,4 +85,4 @@ void URServer::disconnectClient()
 bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written)
 {
   return client_.write(buf, buf_len, written);
-}
\ No newline at end of file
+}