diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h b/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
index c52b1d3..4a84747 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
@@ -78,7 +78,7 @@ public:
    *
    * \returns The IP address of the local machine.
    */
-  std::string getIP();
+  std::string getIP() const;
 
   /*!
    * \brief Reads one byte from the socket
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 f85be7b..34336d3 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
@@ -67,6 +67,13 @@ public:
     return urcontrol_version_;
   }
 
+  /*!
+   * \brief Returns the IP address (of the machine running this driver) used for the socket connection.
+   *
+   * \returns The IP address as a string (e.g. "192.168.0.1")
+   */
+  std::string getIP() const;
+
 private:
   comm::URStream<PackageHeader> stream_;
   std::vector<std::string> recipe_;
diff --git a/ur_rtde_driver/src/comm/tcp_socket.cpp b/ur_rtde_driver/src/comm/tcp_socket.cpp
index 78dc9b9..3bc19f8 100644
--- a/ur_rtde_driver/src/comm/tcp_socket.cpp
+++ b/ur_rtde_driver/src/comm/tcp_socket.cpp
@@ -125,7 +125,7 @@ void TCPSocket::close()
   socket_fd_ = -1;
 }
 
-std::string TCPSocket::getIP()
+std::string TCPSocket::getIP() const
 {
   sockaddr_in name;
   socklen_t len = sizeof(name);
diff --git a/ur_rtde_driver/src/rtde/rtde_client.cpp b/ur_rtde_driver/src/rtde/rtde_client.cpp
index d9e512b..16a61c6 100644
--- a/ur_rtde_driver/src/rtde/rtde_client.cpp
+++ b/ur_rtde_driver/src/rtde/rtde_client.cpp
@@ -132,5 +132,10 @@ bool RTDEClient::getDataPackage(std::unique_ptr<comm::URPackage<PackageHeader>>&
 {
   return pipeline_.getLatestProduct(data_package, timeout);
 }
+
+std::string RTDEClient::getIP() const
+{
+  return stream_.getIP();
+}
 }  // namespace rtde_interface
 }  // namespace ur_driver
diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
index 14ec780..6be03ad 100644
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -31,7 +31,6 @@
 //----------------------------------------------------------------------
 
 #include "ur_rtde_driver/ur/ur_driver.h"
-#include "ur_rtde_driver/primary/package_header.h"
 #include "ur_rtde_driver/exceptions.h"
 #include <memory>
 
@@ -65,11 +64,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
   rtde_frequency_ = rtde_client_->getMaxFrequency();
   servoj_time_ = 1.0 / rtde_frequency_;
 
-  // Open Stream to get own IP
-  // TODO: Open Primary interface to query version and calibration
-  comm::URStream<primary_interface::PackageHeader> stream(robot_ip, 30001);
-  stream.connect();
-  std::string local_ip = stream.getIP();
+  std::string local_ip = rtde_client_->getIP();
 
   uint32_t reverse_port = 50001;        // TODO: Make this a parameter
   uint32_t script_sender_port = 50002;  // TODO: Make this a parameter