diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
index e309697..58a20ee 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
@@ -44,6 +44,10 @@ public:
 
   void setupProducer()
   {
+    timeval tv;
+    tv.tv_sec = 1;
+    tv.tv_usec = 0;
+    stream_.setReceiveTimeout(tv);
     stream_.connect();
   }
   void teardownProducer()
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 a9c51a6..54400d7 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
@@ -23,6 +23,7 @@
 #include <atomic>
 #include <mutex>
 #include <string>
+#include <memory>
 
 namespace ur_driver
 {
@@ -44,6 +45,7 @@ class TCPSocket
 private:
   std::atomic<int> socket_fd_;
   std::atomic<SocketState> state_;
+  std::unique_ptr<timeval> recv_timeout_;
 
 protected:
   virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
@@ -111,6 +113,13 @@ public:
    * \brief Closes the connection to the socket.
    */
   void close();
+
+  /*!
+   * \brief Setup Receive timeout used for this socket.
+   *
+   * \param timeout Timeout used for setting things up
+   */
+  void setReceiveTimeout(const timeval& timeout);
 };
 }  // namespace comm
 }  // namespace ur_driver
diff --git a/ur_rtde_driver/src/comm/tcp_socket.cpp b/ur_rtde_driver/src/comm/tcp_socket.cpp
index 76ec7c6..a8337e3 100644
--- a/ur_rtde_driver/src/comm/tcp_socket.cpp
+++ b/ur_rtde_driver/src/comm/tcp_socket.cpp
@@ -44,6 +44,11 @@ void TCPSocket::setOptions(int socket_fd)
   int flag = 1;
   setsockopt(socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
   setsockopt(socket_fd, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
+
+  if (recv_timeout_ != nullptr)
+  {
+    setsockopt(socket_fd, SOL_SOCKET, SO_RCVTIMEO, recv_timeout_.get(), sizeof(timeval));
+  }
 }
 
 bool TCPSocket::setup(std::string& host, int port)
@@ -188,5 +193,16 @@ bool TCPSocket::write(const uint8_t* buf, const size_t buf_len, size_t& written)
 
   return true;
 }
+
+void TCPSocket::setReceiveTimeout(const timeval& timeout)
+{
+  recv_timeout_.reset(new timeval(timeout));
+
+  if (state_ == SocketState::Connected)
+  {
+    setOptions(socket_fd_);
+  }
+}
+
 }  // namespace comm
 }  // namespace ur_driver