diff --git a/src/device/peripheral/mros-dev/mros-athrill/target/lwip/lwip_linux.c b/src/device/peripheral/mros-dev/mros-athrill/target/lwip/lwip_linux.c
index ee0fdeb5..7cf4490a 100644
--- a/src/device/peripheral/mros-dev/mros-athrill/target/lwip/lwip_linux.c
+++ b/src/device/peripheral/mros-dev/mros-athrill/target/lwip/lwip_linux.c
@@ -45,8 +45,7 @@ int lwip_getsockopt (int s, int level, int optname, void *optval, socklen_t *opt
 
 int lwip_setsockopt (int s, int level, int optname, const void *optval, socklen_t optlen)
 {
-	//TODO
-	return 0;
+	return setsockopt(s, level, optname, optval, optlen);
 }
 
 int lwip_close(int s)
diff --git a/src/device/peripheral/mros-dev/mros-src/comm/cimpl/mros_comm_tcp_server_cimpl.c b/src/device/peripheral/mros-dev/mros-src/comm/cimpl/mros_comm_tcp_server_cimpl.c
index 4d019d5b..a23ea443 100644
--- a/src/device/peripheral/mros-dev/mros-src/comm/cimpl/mros_comm_tcp_server_cimpl.c
+++ b/src/device/peripheral/mros-dev/mros-src/comm/cimpl/mros_comm_tcp_server_cimpl.c
@@ -28,6 +28,14 @@ mRosReturnType mros_comm_tcp_server_bind(mRosCommTcpServerType *server, mros_int
     mRosSockAddrInType addr;
 
     mros_comm_inet_local_sockaddr_init(&addr, port);
+
+    int yes = 1;
+    ret = mros_comm_setsockopt(server->socket.sock_fd, SOL_SOCKET, SO_REUSEADDR, (const char *)&yes, sizeof(yes));
+    if (ret != MROS_E_OK) {
+        ROS_ERROR("%s %s() %u ret=%d", __FILE__, __FUNCTION__, __LINE__, ret);
+        return MROS_E_SYSERR;
+    }
+
     ret = mros_comm_bind(server->socket.sock_fd, (mRosSockAddrType*)&addr, sizeof(mRosSockAddrInType));
 	if (ret != MROS_E_OK) {
 		ROS_ERROR("%s %s() %u ret=%d", __FILE__, __FUNCTION__, __LINE__, ret);