diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
index 8ef0a80..c227aa7 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -184,6 +184,7 @@ protected:
 
   bool setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req, ur_msgs::SetSpeedSliderFractionResponse& res);
   bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
+  bool resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
   void commandCallback(const std_msgs::StringConstPtr& msg);
 
   std::unique_ptr<UrDriver> ur_driver_;
@@ -229,6 +230,7 @@ protected:
 
   ros::ServiceServer set_speed_slider_srv_;
   ros::ServiceServer set_io_srv_;
+  ros::ServiceServer resend_robot_program_srv_;
   ros::Subscriber command_sub_;
 
   uint32_t runtime_state_;
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index 844fc25..de5f787 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -294,6 +294,12 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
   // Service to set any of the robot's IOs
   set_io_srv_ = robot_hw_nh.advertiseService("set_io", &HardwareInterface::setIO, this);
 
+  if (headless_mode)
+  {
+    resend_robot_program_srv_ =
+        robot_hw_nh.advertiseService("resend_robot_program", &HardwareInterface::resendRobotProgram, this);
+  }
+
   // Calling this service will make the "External Control" program node on the UR-Program return.
   deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this);
 
@@ -657,6 +663,21 @@ bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse
   return true;
 }
 
+bool HardwareInterface::resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
+{
+  res.success = ur_driver_->sendRobotProgram();
+  if (res.success)
+  {
+    res.message = "Successfully resent robot program";
+  }
+  else
+  {
+    res.message = "Could not resend robot program";
+  }
+
+  return true;
+}
+
 void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
 {
   std::string str = msg->data;