diff --git a/messaging/__init__.py b/messaging/__init__.py
index c6a40f7199f5f5..66e69e330e85b1 100644
--- a/messaging/__init__.py
+++ b/messaging/__init__.py
@@ -25,14 +25,12 @@ def pub_sock(endpoint):
 
 def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
   sock = SubSocket()
-  sock.connect(context, endpoint, conflate)
+  addr = addr.encode('utf8')
+  sock.connect(context, endpoint, addr, conflate)
 
   if timeout is not None:
     sock.setTimeout(timeout)
 
-  if addr != "127.0.0.1":
-    raise NotImplementedError("Only localhost supported")
-
   if poller is not None:
     poller.registerSocket(sock)
   return sock
@@ -94,14 +92,15 @@ def recv_sock(sock, wait=False):
   return dat
 
 def recv_one(sock):
-  return log.Event.from_bytes(sock.receive())
+  dat = sock.receive()
+  if dat is not None:
+    dat = log.Event.from_bytes(dat)
+  return dat
 
 def recv_one_or_none(sock):
   dat = sock.receive(non_blocking=True)
-
   if dat is not None:
-    log.Event.from_bytes(dat)
-
+    dat = log.Event.from_bytes(dat)
   return dat
 
 def recv_one_retry(sock):
@@ -167,6 +166,9 @@ def update_msgs(self, cur_time, msgs):
     self.frame += 1
     self.updated = dict.fromkeys(self.updated, False)
     for msg in msgs:
+      if msg is None:
+        continue
+
       s = msg.which()
       self.updated[s] = True
       self.rcv_time[s] = cur_time
diff --git a/messaging/impl_zmq.cc b/messaging/impl_zmq.cc
index 05696dcb2aabde..77c35a6567597e 100644
--- a/messaging/impl_zmq.cc
+++ b/messaging/impl_zmq.cc
@@ -73,7 +73,7 @@ ZMQMessage::~ZMQMessage() {
 }
 
 
-void ZMQSubSocket::connect(Context *context, std::string endpoint, bool conflate){
+void ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
   sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
   assert(sock);
 
@@ -87,7 +87,7 @@ void ZMQSubSocket::connect(Context *context, std::string endpoint, bool conflate
   int reconnect_ivl = 500;
   zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
 
-  full_endpoint = "tcp://127.0.0.1:";
+  full_endpoint = "tcp://" + address + ":";
   full_endpoint += std::to_string(get_port(endpoint));
 
   std::cout << "ZMQ SUB: " << full_endpoint << std::endl;
@@ -109,15 +109,6 @@ Message * ZMQSubSocket::receive(bool non_blocking){
     r = new ZMQMessage;
     r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
   }
-  // else {
-  //   std::cout << "endpoint: " << full_endpoint << std::endl;
-  //   std::cout << "Receive error: " << zmq_strerror(errno) << std::endl;
-  //   std::cout << "non_blocking: " << non_blocking << std::endl;
-  //   int timeout = 123;
-  //   size_t sz = sizeof(int);
-  //   zmq_getsockopt(sock, ZMQ_RCVTIMEO, &timeout, &sz);
-  //   std::cout << "timeout: " << timeout << std::endl;
-  // }
 
   zmq_msg_close(&msg);
   return r;
diff --git a/messaging/impl_zmq.hpp b/messaging/impl_zmq.hpp
index cfe105f4422ea3..a40d623e3af849 100644
--- a/messaging/impl_zmq.hpp
+++ b/messaging/impl_zmq.hpp
@@ -32,7 +32,7 @@ class ZMQSubSocket : public SubSocket {
   void * sock;
   std::string full_endpoint;
 public:
-  void connect(Context *context, std::string endpoint, bool conflate=false);
+  void connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
   void setTimeout(int timeout);
   void * getRawSocket() {return sock;}
   Message *receive(bool non_blocking=false);
diff --git a/messaging/messaging.cc b/messaging/messaging.cc
index 352b04a6d969d9..a1178a510872a6 100644
--- a/messaging/messaging.cc
+++ b/messaging/messaging.cc
@@ -13,7 +13,14 @@ SubSocket * SubSocket::create(){
 
 SubSocket * SubSocket::create(Context * context, std::string endpoint){
   SubSocket *s = SubSocket::create();
-  s->connect(context, endpoint);
+  s->connect(context, endpoint, "127.0.0.1");
+
+  return s;
+}
+
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
+  SubSocket *s = SubSocket::create();
+  s->connect(context, endpoint, address);
 
   return s;
 }
diff --git a/messaging/messaging.hpp b/messaging/messaging.hpp
index f379dc14343e62..95e34c0d67f4dc 100644
--- a/messaging/messaging.hpp
+++ b/messaging/messaging.hpp
@@ -23,12 +23,13 @@ class Message {
 
 class SubSocket {
 public:
-  virtual void connect(Context *context, std::string endpoint, bool conflate=false) = 0;
+  virtual void connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
   virtual void setTimeout(int timeout) = 0;
   virtual Message *receive(bool non_blocking=false) = 0;
   virtual void * getRawSocket() = 0;
   static SubSocket * create();
   static SubSocket * create(Context * context, std::string endpoint);
+  static SubSocket * create(Context * context, std::string endpoint, std::string address);
   virtual ~SubSocket(){};
 };
 
diff --git a/messaging/messaging.pxd b/messaging/messaging.pxd
index cb8ca07eab0f04..5e3da7241544cf 100644
--- a/messaging/messaging.pxd
+++ b/messaging/messaging.pxd
@@ -23,7 +23,7 @@ cdef extern from "messaging.hpp":
   cdef cppclass SubSocket:
     @staticmethod
     SubSocket * create()
-    void connect(Context *, string, bool)
+    void connect(Context *, string, string, bool)
     Message * receive(bool)
     void setTimeout(int)
 
diff --git a/messaging/messaging_pyx.pyx b/messaging/messaging_pyx.pyx
index e2ac79cb2b43f7..a4ac5172b04ae7 100644
--- a/messaging/messaging_pyx.pyx
+++ b/messaging/messaging_pyx.pyx
@@ -66,8 +66,8 @@ cdef class SubSocket:
     self.is_owner = False
     self.socket = ptr
 
-  def connect(self, Context context, string endpoint, bool conflate=False):
-    self.socket.connect(context.context, endpoint, conflate)
+  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
+    self.socket.connect(context.context, endpoint, address, conflate)
 
   def setTimeout(self, int timeout):
     self.socket.setTimeout(timeout)