diff --git a/include/control/armSDK.h b/include/control/armSDK.h
index b60c215..bd3d72a 100644
--- a/include/control/armSDK.h
+++ b/include/control/armSDK.h
@@ -7,7 +7,7 @@
 class ARMSDK : public CmdPanel{
 public:
     ARMSDK(std::vector<KeyAction*> events, 
-        EmptyAction emptyAction, const char* IP, uint port, double dt = 0.002);
+        EmptyAction emptyAction, const char* IP, uint toport, uint ownport, double dt = 0.002);
     ~ARMSDK();
     SendCmd getSendCmd();
     int getState(size_t channelID = 0);
diff --git a/lib/libZ1_ROS_Linux64.so b/lib/libZ1_ROS_Linux64.so
index 46e22bd..fc463ed 100644
Binary files a/lib/libZ1_ROS_Linux64.so and b/lib/libZ1_ROS_Linux64.so differ
diff --git a/lib/libZ1_UDP_Linux64.so b/lib/libZ1_UDP_Linux64.so
index d3d629d..87b0dd0 100644
Binary files a/lib/libZ1_UDP_Linux64.so and b/lib/libZ1_UDP_Linux64.so differ
diff --git a/main.cpp b/main.cpp
index cabc2c1..943f8f4 100755
--- a/main.cpp
+++ b/main.cpp
@@ -48,7 +48,7 @@ int main(int argc, char **argv){
     ctrlComp->stateCSV = new CSVTool("../config/savedArmStates.csv");
     ctrlComp->geneObj();
     if(ctrlComp->ctrl == Control::SDK){
-        ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 0.002);
+        ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 8071, 0.002);
     }else if(ctrlComp->ctrl == Control::KEYBOARD){
         events.push_back(new StateAction("`", (int)ArmFSMStateName::BACKTOSTART));
         events.push_back(new StateAction("1", (int)ArmFSMStateName::PASSIVE));