diff --git a/CMakeLists.txt b/CMakeLists.txt
index e9f3b834..eb945022 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
   trajectory_msgs
   ur_msgs
   tf
+  control_panel_ur
 )
 
 ## System dependencies are found with CMake's conventions
@@ -110,7 +111,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
 #  LIBRARIES ur_modern_driver
-  CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs
+  CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs control_panel_ur
   DEPENDS ur_hardware_interface
 )
 
diff --git a/package.xml b/package.xml
index 5cf0127f..d6af1d21 100644
--- a/package.xml
+++ b/package.xml
@@ -52,6 +52,7 @@
   <build_depend>ur_msgs</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>realtime_tools</build_depend>
+  <build_depend>control_panel_ur</build_depend>
   <run_depend>hardware_interface</run_depend>
   <run_depend>controller_manager</run_depend>
   <run_depend>ros_controllers</run_depend>
@@ -66,6 +67,7 @@
   <run_depend>ur_description</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>realtime_tools</run_depend>
+  <run_depend>control_panel_ur</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index b859c837..cd969de4 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -52,6 +52,9 @@
 #include <controller_manager/controller_manager.h>
 #include <realtime_tools/realtime_publisher.h>
 
+/// Ur Dashboard
+#include "control_panel_ur/UrDashboard.h"
+
 /// TF
 #include <tf/tf.h>
 #include <tf/transform_broadcaster.h>
@@ -853,6 +856,7 @@ int main(int argc, char **argv) {
 
 	ros::init(argc, argv, "ur_driver");
 	ros::NodeHandle nh;
+
 	if (ros::param::get("use_sim_time", use_sim_time)) {
 		print_warning("use_sim_time is set!!");
 	}
@@ -876,6 +880,18 @@ int main(int argc, char **argv) {
 	} else
 		reverse_port = 50001;
 
+    // Wait for the dashboard to be online before starting the driver
+    {
+        sr::UrDashboard ur_dashboard;
+        ur_dashboard.setHostname(host);
+        while (ros::ok() && !ur_dashboard.initSocketServer())
+        {
+            double timeout = 5.0;
+            ROS_WARN("Could not connect to dashboard, retrying in %.2f seconds", timeout);
+            ros::Duration(timeout).sleep();
+        }
+    }
+
 	RosWrapper interface(host, reverse_port);
 
 	ros::AsyncSpinner spinner(3);