diff --git a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
index 533780f5..e21b9051 100644
--- a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
+++ b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
@@ -600,7 +600,9 @@ def velocity_command_joint_state_callback(self, msg):
             self._prev_velocity_command, av
         ):
             return
-        ret = self.interface.angle_vector(av, servo_ids, velocity=self.wheel_frame_count)
+        ret = serial_call_with_retry(
+            self.interface.angle_vector, av, servo_ids,
+            velocity=self.wheel_frame_count)
         if ret is None:
             return
         self._prev_velocity_command = av