diff --git a/fixposition_driver_lib/src/fixposition_driver.cpp b/fixposition_driver_lib/src/fixposition_driver.cpp
index 95f634b..2d3c188 100644
--- a/fixposition_driver_lib/src/fixposition_driver.cpp
+++ b/fixposition_driver_lib/src/fixposition_driver.cpp
@@ -287,7 +287,11 @@ void FixpositionDriver::NovConvertAndPublish(const uint8_t* msg, int size) {
 }
 
 bool FixpositionDriver::CreateTCPSocket() {
-    struct sockaddr_in server_address;
+    if (client_fd_ != -1) {
+        std::cerr << "TCP connection already exists" << "\n";
+        return true;
+    }
+
     client_fd_ = socket(AF_INET, SOCK_STREAM, 0);
 
     if (client_fd_ < 0) {
@@ -297,6 +301,7 @@ bool FixpositionDriver::CreateTCPSocket() {
         std::cout << "Client created.\n";
     }
 
+    struct sockaddr_in server_address;
     server_address.sin_family = AF_INET;
     server_address.sin_addr.s_addr = INADDR_ANY;
     server_address.sin_port = htons(std::stoi(params_.fp_output.port));
@@ -312,6 +317,11 @@ bool FixpositionDriver::CreateTCPSocket() {
 }
 
 bool FixpositionDriver::CreateSerialConnection() {
+    if (client_fd_ != -1) {
+        std::cerr << "Serial connection already exists" << "\n";
+        return true;
+    }
+
     client_fd_ = open(params_.fp_output.port.c_str(), O_RDWR | O_NOCTTY);
 
     struct termios options;
diff --git a/fixposition_driver_ros1/src/fixposition_driver_node.cpp b/fixposition_driver_ros1/src/fixposition_driver_node.cpp
index 161426c..b5f3fb6 100644
--- a/fixposition_driver_ros1/src/fixposition_driver_node.cpp
+++ b/fixposition_driver_ros1/src/fixposition_driver_node.cpp
@@ -52,14 +52,13 @@ FixpositionDriverNode::FixpositionDriverNode(const FixpositionDriverParams& para
       odometry_enu0_pub_(nh_.advertise<nav_msgs::Odometry>("/fixposition/odometry_enu", 100)),
       eul_pub_(nh_.advertise<geometry_msgs::Vector3Stamped>("/fixposition/ypr", 100)),
       eul_imu_pub_(nh_.advertise<geometry_msgs::Vector3Stamped>("/fixposition/imu_ypr", 100)) {
-    
+
     ws_sub_ = nh_.subscribe<fixposition_driver_ros1::Speed>(params_.customer_input.speed_topic, 100,
                                                             &FixpositionDriverNode::WsCallback, this,
                                                             ros::TransportHints().tcpNoDelay());
 
-    
 
-    Connect();
+
     RegisterObservers();
 }
 
@@ -195,23 +194,23 @@ void FixpositionDriverNode::PublishNmea(NmeaMessage data) {
     if (data.checkEpoch()) {
         // Generate new message
         fixposition_driver_ros1::NMEA msg;
-        
+
         // ROS Header
         msg.header.stamp = ros::Time::fromBoost(GpsTimeToPtime(data.gpzda.stamp));
         msg.header.frame_id = "LLH";
-        
+
         // Latitude [degrees]. Positive is north of equator; negative is south
         msg.latitude = data.gpgga.latitude;
-        
+
         // Longitude [degrees]. Positive is east of prime meridian; negative is west
         msg.longitude = data.gpgga.longitude;
-        
+
         // Altitude [m]. Positive is above the WGS 84 ellipsoid
         msg.altitude = data.gpgga.altitude;
 
         // Speed over ground [m/s]
         msg.speed = data.gprmc.speed;
-        
+
         // Course over ground [deg]
         msg.course = data.gprmc.course;
 
@@ -224,7 +223,7 @@ void FixpositionDriverNode::PublishNmea(NmeaMessage data) {
 
         // Positioning system mode indicator, R (RTK fixed), F (RTK float), A (no RTK), E, N
         msg.mode = data.gprmc.mode;
-        
+
         // Publish message
         nmea_pub_.publish(msg);
     }