diff --git a/include/mros2.h b/include/mros2.h
index 8296738..b1fa15b 100644
--- a/include/mros2.h
+++ b/include/mros2.h
@@ -13,6 +13,14 @@
 extern void* __dso_handle;
 #endif
 
+namespace rtps
+{
+namespace Config
+{
+extern std::array<uint8_t, 4> IP_ADDRESS;
+}
+}
+
 namespace mros2
 {
 
@@ -81,6 +89,8 @@ class Subscriber
 
 void spin();
 
+void setIPAddrRTPS(std::array<uint8_t, 4> ipaddr);
+
 }  /* namespace mros2 */
 
 namespace message_traits
diff --git a/src/mros2.cpp b/src/mros2.cpp
index d42af45..b9b1f93 100644
--- a/src/mros2.cpp
+++ b/src/mros2.cpp
@@ -282,6 +282,13 @@ void spin()
   }
 }
 
+void setIPAddrRTPS(std::array<uint8_t, 4> ipaddr)
+{
+  rtps::Config::IP_ADDRESS = ipaddr;
+
+  MROS2_DEBUG("[MROS2LIB] set IP address for RTPS communication");
+}
+
 }  /* namespace mros2 */
 
 
@@ -311,6 +318,14 @@ void setTrue(void* args)
   *static_cast<volatile bool*>(args) = true;
 }
 
+namespace rtps
+{
+namespace Config
+{
+std::array<uint8_t, 4> IP_ADDRESS;
+}
+} /* namespace rtps */
+
 /*
  * specialize template functions described in platform's workspace
  */