diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0db34fd..8984ef2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,7 +8,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ### Added
+
+* [PR-14](https://github.com/AGH-CEAI/robotiq_hande_description/pull/14) - Adds new parameters for the ros2_control: `frequency_hz`, `create_socat_tty`, `ip_address` and `port`.
+
 ### Changed
+
+* [PR-14](https://github.com/AGH-CEAI/robotiq_hande_description/pull/14) - Updated CMake version from `3.8` to `3.16`; changed ros2_control param name `tty` to `tty_port`.
+
+
 ### Deprecated
 ### Removed
 ### Fixed
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 73b06c0..bb97564 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.16)
 project(robotiq_hande_description)
 
 find_package(ament_cmake REQUIRED)
diff --git a/README.md b/README.md
index a4d2323..421a935 100644
--- a/README.md
+++ b/README.md
@@ -42,12 +42,13 @@ For estabilishg a connection with [robotiq_hande_driver](https://github.com/AGH-
     parent="tool0"
     grip_pos_min="0.0"
     grip_pos_max="0.025"
-    tty="/tmp/ttyUR"
+    tty_port="/tmp/ttyUR"
     baudrate="115200"
     parity="N"
     data_bits="8"
     stop_bit="1"
     slave_id="9"
+    frequency_hz="10"
     use_fake_hardware="false"
   />
 ```
diff --git a/urdf/robotiq_hande_gripper.ros2_control.xacro b/urdf/robotiq_hande_gripper.ros2_control.xacro
index e0ea0af..a29bba0 100644
--- a/urdf/robotiq_hande_gripper.ros2_control.xacro
+++ b/urdf/robotiq_hande_gripper.ros2_control.xacro
@@ -1,6 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="robotiq_hande_ros2_control" params="name prefix grip_pos_min grip_pos_max tty baudrate parity data_bits stop_bit slave_id use_fake_hardware">
+  <xacro:macro
+    name="robotiq_hande_ros2_control"
+    params="name prefix grip_pos_min grip_pos_max tty_port baudrate parity data_bits stop_bit slave_id frequency_hz create_socat_tty ip_address port use_fake_hardware"
+  >
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">
@@ -11,12 +14,18 @@
           <plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
           <param name="grip_pos_min">${grip_pos_min}</param>
           <param name="grip_pos_max">${grip_pos_max}</param>
-          <param name="tty">${tty}</param>
+
+          <param name="tty_port">${tty_port}</param>
           <param name="baudrate">${baudrate}</param>
           <param name="parity">${parity}</param>
           <param name="data_bits">${data_bits}</param>
           <param name="stop_bit">${stop_bit}</param>
           <param name="slave_id">${slave_id}</param>
+          <param name="frequency_hz">${frequency_hz}</param>
+
+          <param name="create_socat_tty">${create_socat_tty}</param>
+          <param name="ip_address">${ip_address}</param>
+          <param name="port">${port}</param>
         </xacro:unless>
       </hardware>
 
diff --git a/urdf/robotiq_hande_gripper.urdf.xacro b/urdf/robotiq_hande_gripper.urdf.xacro
index e868390..8b83c5d 100644
--- a/urdf/robotiq_hande_gripper.urdf.xacro
+++ b/urdf/robotiq_hande_gripper.urdf.xacro
@@ -3,12 +3,18 @@
   <xacro:arg name="parent" default="tool0"/>
   <xacro:arg name="grip_pos_min" default="0"/>
   <xacro:arg name="grip_pos_max" default="0.025"/>
-  <xacro:arg name="tty" default="/tmp/ttyUR"/>
+  <xacro:arg name="tty_port" default="/tmp/ttyUR"/>
   <xacro:arg name="baudrate" default="115200"/>
   <xacro:arg name="parity" default="N"/>
   <xacro:arg name="data_bits" default="8"/>
   <xacro:arg name="stop_bit" default="1"/>
   <xacro:arg name="slave_id" default="9"/>
+  <xacro:arg name="frequency_hz" default="10"/>
+
+  <xacro:arg name="create_socat_tty" default="false"/>
+  <xacro:arg name="ip_address" default="192.168.100.10"/>
+  <xacro:arg name="port" default="54321"/>
+
   <xacro:arg name="use_fake_hardware" default="true"/>
 
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
@@ -20,12 +26,16 @@
     parent="$(arg parent)"
     grip_pos_min="$(arg grip_pos_min)"
     grip_pos_max="$(arg grip_pos_max)"
-    tty="$(arg tty)"
+    tty_port="$(arg tty_port)"
     baudrate="$(arg baudrate)"
     parity="$(arg parity)"
     data_bits="$(arg data_bits)"
     stop_bit="$(arg stop_bit)"
     slave_id="$(arg slave_id)"
+    frequency_hz="$(arg frequency_hz)"
+    create_socat_tty="$(arg create_socat_tty)"
+    ip_address="$(arg ip_address)"
+    port="$(arg port)"
     use_fake_hardware="$(arg use_fake_hardware)"
   />
 </robot>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index de4d0ba..6deb1a4 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -14,13 +14,17 @@
             parent
             grip_pos_min
             grip_pos_max
-            tty
+            tty_port
             baudrate
             parity
             data_bits
             stop_bit
             slave_id
             use_fake_hardware
+            frequency_hz:=10
+            create_socat_tty:=false
+            ip_address:=192.168.100.10
+            port:=54321
             coupler_mass:=0.119
             xyz:='0 0 0'
             rpy:='0 0 0'"
@@ -31,12 +35,16 @@
       prefix="${prefix}"
       grip_pos_min="${grip_pos_min}"
       grip_pos_max="${grip_pos_max}"
-      tty="${tty}"
+      tty_port="${tty_port}"
       baudrate="${baudrate}"
       parity="${parity}"
       data_bits="${data_bits}"
       stop_bit="${stop_bit}"
       slave_id="${slave_id}"
+      frequency_hz="${frequency_hz}"
+      create_socat_tty="${create_socat_tty}"
+      ip_address="${ip_address}"
+      port="${port}"
       use_fake_hardware="${use_fake_hardware}"
     />