From e35cce8df477b047b3a75212f1cff54fc28fb819 Mon Sep 17 00:00:00 2001
From: Shunichi Nozawa <shunichi.nozawa@mujin.co.jp>
Date: Wed, 23 Apr 2025 20:35:08 +0900
Subject: [PATCH 1/3] need to initialize socket

---
 src/mujinzmq.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/mujinzmq.cpp b/src/mujinzmq.cpp
index fcfb814e..13dee2bf 100644
--- a/src/mujinzmq.cpp
+++ b/src/mujinzmq.cpp
@@ -178,6 +178,7 @@ void ZmqSubscriber::_DestroySocket()
 ZmqPublisher::ZmqPublisher(const unsigned int port)
 {
     _port = port;
+    _InitializeSocket(nullptr);
 }
 
 ZmqPublisher::~ZmqPublisher()

From e1698ad7f002d1351eeb1d7b32f80563ca2448bf Mon Sep 17 00:00:00 2001
From: Shunichi Nozawa <shunichi.nozawa@mujin.co.jp>
Date: Wed, 23 Apr 2025 22:13:00 +0900
Subject: [PATCH 2/3] Enable to specify zmq publisher end point host name. if
 empty, used as wildcard

---
 include/mujincontrollerclient/mujinzmq.h | 4 ++--
 src/mujinzmq.cpp                         | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/mujincontrollerclient/mujinzmq.h b/include/mujincontrollerclient/mujinzmq.h
index 07d59a82..3d0cae4c 100644
--- a/include/mujincontrollerclient/mujinzmq.h
+++ b/include/mujincontrollerclient/mujinzmq.h
@@ -52,7 +52,7 @@ class MUJINCLIENT_API ZmqSubscriber
 class MUJINCLIENT_API ZmqPublisher
 {
 public:
-    ZmqPublisher(const unsigned int port);
+    ZmqPublisher(const unsigned int port, const std::string& host = std::string());
     virtual ~ZmqPublisher();
 
     bool Publish(const std::string& messagestr);
@@ -62,7 +62,7 @@ class MUJINCLIENT_API ZmqPublisher
     }
 
 protected:
-    void _InitializeSocket(boost::shared_ptr<zmq::context_t> context);
+    void _InitializeSocket(boost::shared_ptr<zmq::context_t> context, const std::string& host);
     void _DestroySocket();
 
     boost::shared_ptr<zmq::context_t> _context;
diff --git a/src/mujinzmq.cpp b/src/mujinzmq.cpp
index 13dee2bf..61ddc618 100644
--- a/src/mujinzmq.cpp
+++ b/src/mujinzmq.cpp
@@ -175,10 +175,10 @@ void ZmqSubscriber::_DestroySocket()
     }
 }
 
-ZmqPublisher::ZmqPublisher(const unsigned int port)
+ZmqPublisher::ZmqPublisher(const unsigned int port, const std::string& host)
 {
     _port = port;
-    _InitializeSocket(nullptr);
+    _InitializeSocket(nullptr, host);
 }
 
 ZmqPublisher::~ZmqPublisher()
@@ -193,7 +193,7 @@ bool ZmqPublisher::Publish(const std::string& messagestr)
     return _socket->send(message);
 }
 
-void ZmqPublisher::_InitializeSocket(boost::shared_ptr<zmq::context_t> context)
+void ZmqPublisher::_InitializeSocket(boost::shared_ptr<zmq::context_t> context, const std::string& host)
 {
     if (!!context) {
         _context = context;
@@ -212,7 +212,7 @@ void ZmqPublisher::_InitializeSocket(boost::shared_ptr<zmq::context_t> context)
     _socket->setsockopt(ZMQ_LINGER, 100); // ms
     std::ostringstream port_stream;
     port_stream << _port;
-    _socket->bind (("tcp://*:" + port_stream.str()).c_str());
+    _socket->bind (("tcp://" + (host.empty() ? "*" : host) + ":" + port_stream.str()).c_str());
 }
 
 void ZmqPublisher::_DestroySocket()

From 752d6d32ad325d1d2f8be5219bb6022cc010b193 Mon Sep 17 00:00:00 2001
From: Shunichi Nozawa <shunichi.nozawa@mujin.co.jp>
Date: Wed, 23 Apr 2025 22:43:35 +0900
Subject: [PATCH 3/3] Bump minor version and update changelog.

---
 CHANELOG.md    | 4 ++++
 CMakeLists.txt | 4 ++--
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/CHANELOG.md b/CHANELOG.md
index 2332d69d..260da376 100644
--- a/CHANELOG.md
+++ b/CHANELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+## 0.82.0 (2025-04-23)
+
+- Initialize sockets in ZMQPulisher and add host name argument.
+
 ## 0.81.1 (2025-04-14)
 
 - Use only ZMQ for BinPickingTask when compiled with ZMQ.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e116ab0f..116dc668 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,8 +18,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # Define here the needed parameters
 # make sure to change the version in docs/Makefile
 set (MUJINCLIENT_VERSION_MAJOR 0)
-set (MUJINCLIENT_VERSION_MINOR 81)
-set (MUJINCLIENT_VERSION_PATCH 1)
+set (MUJINCLIENT_VERSION_MINOR 82)
+set (MUJINCLIENT_VERSION_PATCH 0)
 set (MUJINCLIENT_VERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR}.${MUJINCLIENT_VERSION_PATCH})
 set (MUJINCLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})
 set (CLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})