diff --git a/include/ugv_sdk/details/interface/ranger_interface.hpp b/include/ugv_sdk/details/interface/ranger_interface.hpp
index 770e2c8..ed2aa35 100644
--- a/include/ugv_sdk/details/interface/ranger_interface.hpp
+++ b/include/ugv_sdk/details/interface/ranger_interface.hpp
@@ -39,7 +39,7 @@ struct RangerActuatorState {
 /////////////////////////////////////////////////////////////////////////
 
 struct RangerInterface {
-  virtual void Connect(std::string dev_name) = 0;
+  virtual bool Connect(std::string dev_name) = 0;
 
   // robot control
   virtual void SetMotionMode(uint8_t mode) = 0;
diff --git a/include/ugv_sdk/details/interface/robot_common_interface.hpp b/include/ugv_sdk/details/interface/robot_common_interface.hpp
index 04b28d7..dfd539e 100644
--- a/include/ugv_sdk/details/interface/robot_common_interface.hpp
+++ b/include/ugv_sdk/details/interface/robot_common_interface.hpp
@@ -50,7 +50,7 @@ class RobotCommonInterface {
   virtual void EnableCommandedMode() = 0;
 
   // functions to be implemented by each robot class
-  virtual void Connect(std::string can_name) = 0;
+  virtual bool Connect(std::string can_name) = 0;
 
   virtual void ResetRobotState() = 0;
 
diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp
index 9d5dfbb..c1bcd47 100644
--- a/include/ugv_sdk/details/robot_base/agilex_base.hpp
+++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp
@@ -45,9 +45,10 @@ class AgilexBase : public RobotCommonInterface {
   AgilexBase(const AgilexBase &hunter) = delete;
   AgilexBase &operator=(const AgilexBase &hunter) = delete;
 
-  void Connect(std::string can_name) override {
-    ConnectPort(can_name, std::bind(&AgilexBase<ParserType>::ParseCANFrame,
-                                    this, std::placeholders::_1));
+  bool Connect(std::string can_name) override {
+    return ConnectPort(can_name,
+                       std::bind(&AgilexBase<ParserType>::ParseCANFrame, this,
+                                 std::placeholders::_1));
   }
 
   // switch to commanded mode
@@ -179,11 +180,11 @@ class AgilexBase : public RobotCommonInterface {
 
   // connect to roboot from CAN or serial
   using CANFrameRxCallback = AsyncCAN::ReceiveCallback;
-  void ConnectPort(std::string dev_name, CANFrameRxCallback cb) {
+  bool ConnectPort(std::string dev_name, CANFrameRxCallback cb) {
     can_ = std::make_shared<AsyncCAN>(dev_name);
     can_->SetReceiveCallback(cb);
-    can_->StartListening();
-    can_connected_ = true;
+    can_connected_ = can_->StartListening();
+    return can_connected_;
   }
 
   void DisconnectPort() {
diff --git a/include/ugv_sdk/details/robot_base/bunker_base.hpp b/include/ugv_sdk/details/robot_base/bunker_base.hpp
index 5912e24..e0120ef 100644
--- a/include/ugv_sdk/details/robot_base/bunker_base.hpp
+++ b/include/ugv_sdk/details/robot_base/bunker_base.hpp
@@ -26,8 +26,8 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
   ~BunkerBase() = default;
 
   // set up connection
-  void Connect(std::string can_name) override {
-    AgilexBase<ParserType>::Connect(can_name);
+  bool Connect(std::string can_name) override {
+    return AgilexBase<ParserType>::Connect(can_name);
   }
 
   // robot control
diff --git a/include/ugv_sdk/details/robot_base/hunter_base.hpp b/include/ugv_sdk/details/robot_base/hunter_base.hpp
index 1c436d4..dbf930b 100644
--- a/include/ugv_sdk/details/robot_base/hunter_base.hpp
+++ b/include/ugv_sdk/details/robot_base/hunter_base.hpp
@@ -26,8 +26,8 @@ class HunterBase : public AgilexBase<ParserType>, public HunterInterface {
   ~HunterBase() = default;
 
   // set up connection
-  void Connect(std::string can_name) override {
-    AgilexBase<ParserType>::Connect(can_name);
+  bool Connect(std::string can_name) override {
+    return AgilexBase<ParserType>::Connect(can_name);
   }
 
   // robot control
diff --git a/include/ugv_sdk/details/robot_base/ranger_base.hpp b/include/ugv_sdk/details/robot_base/ranger_base.hpp
index 5bb572b..72b4e8d 100644
--- a/include/ugv_sdk/details/robot_base/ranger_base.hpp
+++ b/include/ugv_sdk/details/robot_base/ranger_base.hpp
@@ -27,9 +27,10 @@ class RangerBase : public AgilexBase<ProtocolV2Parser>, public RangerInterface {
   ~RangerBase() = default;
 
   // set up connection
-  void Connect(std::string dev_name) override {
-    AgilexBase::ConnectPort(dev_name, std::bind(&RangerBase::ParseCANFrame,
-                                                this, std::placeholders::_1));
+  bool Connect(std::string dev_name) override {
+    return AgilexBase::ConnectPort(
+        dev_name,
+        std::bind(&RangerBase::ParseCANFrame, this, std::placeholders::_1));
   }
 
   // robot control
diff --git a/include/ugv_sdk/details/robot_base/scout_base.hpp b/include/ugv_sdk/details/robot_base/scout_base.hpp
index 604c2ce..557432e 100644
--- a/include/ugv_sdk/details/robot_base/scout_base.hpp
+++ b/include/ugv_sdk/details/robot_base/scout_base.hpp
@@ -26,8 +26,8 @@ class ScoutBase : public AgilexBase<ParserType>, public ScoutInterface {
   ~ScoutBase() = default;
 
   // set up connection
-  void Connect(std::string can_name) override {
-    AgilexBase<ParserType>::Connect(can_name);
+  bool Connect(std::string can_name) override {
+    return AgilexBase<ParserType>::Connect(can_name);
   }
 
   void Connect(std::string uart_name, uint32_t baudrate) override {
diff --git a/include/ugv_sdk/details/robot_base/tracer_base.hpp b/include/ugv_sdk/details/robot_base/tracer_base.hpp
index 86f40f5..87ff78f 100644
--- a/include/ugv_sdk/details/robot_base/tracer_base.hpp
+++ b/include/ugv_sdk/details/robot_base/tracer_base.hpp
@@ -28,8 +28,8 @@ class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
   ~TracerBaseV2() = default;
 
   // set up connection
-  void Connect(std::string can_name) override {
-    AgilexBase<ProtocolV2Parser>::Connect(can_name);
+  bool Connect(std::string can_name) override {
+    return AgilexBase<ProtocolV2Parser>::Connect(can_name);
   }
 
   void Connect(std::string uart_name, uint32_t baudrate) override {
diff --git a/include/ugv_sdk/mobile_robot/bunker_robot.hpp b/include/ugv_sdk/mobile_robot/bunker_robot.hpp
index 2f189c7..8fb10f6 100644
--- a/include/ugv_sdk/mobile_robot/bunker_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/bunker_robot.hpp
@@ -21,7 +21,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
   BunkerRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
   ~BunkerRobot();
 
-  void Connect(std::string can_name) override;
+  bool Connect(std::string can_name) override;
 
   void EnableCommandedMode() override;
 
diff --git a/include/ugv_sdk/mobile_robot/hunter_robot.hpp b/include/ugv_sdk/mobile_robot/hunter_robot.hpp
index 6e5eb85..c7057ff 100644
--- a/include/ugv_sdk/mobile_robot/hunter_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/hunter_robot.hpp
@@ -21,7 +21,7 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface {
   HunterRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
   ~HunterRobot();
 
-  void Connect(std::string can_name) override;
+  bool Connect(std::string can_name) override;
 
   void EnableCommandedMode() override;
 
diff --git a/include/ugv_sdk/mobile_robot/scout_robot.hpp b/include/ugv_sdk/mobile_robot/scout_robot.hpp
index 54a2046..e4c731f 100644
--- a/include/ugv_sdk/mobile_robot/scout_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/scout_robot.hpp
@@ -22,7 +22,7 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface {
              bool is_mini_model = false);
   virtual ~ScoutRobot();
 
-  void Connect(std::string can_name) override;
+  bool Connect(std::string can_name) override;
   void Connect(std::string uart_name, uint32_t baudrate) override;
 
   void EnableCommandedMode() override;
diff --git a/src/mobile_robot/bunker_robot.cpp b/src/mobile_robot/bunker_robot.cpp
index 481cb9a..68836b1 100644
--- a/src/mobile_robot/bunker_robot.cpp
+++ b/src/mobile_robot/bunker_robot.cpp
@@ -25,7 +25,9 @@ BunkerRobot::~BunkerRobot() {
 
 void BunkerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
 
-void BunkerRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
+bool BunkerRobot::Connect(std::string can_name) {
+  return robot_->Connect(can_name);
+}
 
 void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); }
 
diff --git a/src/mobile_robot/hunter_robot.cpp b/src/mobile_robot/hunter_robot.cpp
index 36749c4..8626afe 100644
--- a/src/mobile_robot/hunter_robot.cpp
+++ b/src/mobile_robot/hunter_robot.cpp
@@ -25,7 +25,9 @@ HunterRobot::~HunterRobot() {
 
 void HunterRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
 
-void HunterRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
+bool HunterRobot::Connect(std::string can_name) {
+  return robot_->Connect(can_name);
+}
 
 void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); }
 
diff --git a/src/mobile_robot/scout_robot.cpp b/src/mobile_robot/scout_robot.cpp
index 2b85a44..5b729ce 100644
--- a/src/mobile_robot/scout_robot.cpp
+++ b/src/mobile_robot/scout_robot.cpp
@@ -33,7 +33,9 @@ ScoutRobot::~ScoutRobot() {
 
 void ScoutRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
 
-void ScoutRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
+bool ScoutRobot::Connect(std::string can_name) {
+  return robot_->Connect(can_name);
+}
 
 void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) {
   //   robot_->Connect(uart_name, baudrate);