diff --git a/apps/ros-core/templates/bin/_net_listener.tpl b/apps/ros-core/templates/bin/_net_listener.tpl
new file mode 100644
index 0000000..5fd5f28
--- /dev/null
+++ b/apps/ros-core/templates/bin/_net_listener.tpl
@@ -0,0 +1,15 @@
+# Copyright 2019-present Open Networking Foundation
+#
+# SPDX-License-Identifier: LicenseRef-ONF-Member-Only-1.0
+
+import argparse, socket
+from socket import gethostbyaddr
+from datetime import datetime
+
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+sock.bind(('0.0.0.0', {{ .Values.config.droneNetListener.port }}))
+print('Listening at {}'.format(sock.getsockname()))
+while True:
+    data, address = sock.recvfrom(65535)
+    text = data.decode('ascii')
+    print('The client at {} says {!r}'.format(address, text))
diff --git a/apps/ros-core/templates/bin/_run_roscore.sh.tpl b/apps/ros-core/templates/bin/_run_roscore.sh.tpl
index 66b3402..54eff77 100644
--- a/apps/ros-core/templates/bin/_run_roscore.sh.tpl
+++ b/apps/ros-core/templates/bin/_run_roscore.sh.tpl
@@ -5,10 +5,6 @@
 
 set -ex
 
-{{- range .Values.config.rosCore.droneList }}
-echo "{{ .ipAddr }} {{ .domain }}" >> /etc/hosts
-{{- end }}
-
 {{ if .Values.config.rosCore.debug }}
 while true; do sleep 3600; done;
 {{ else }}
diff --git a/apps/ros-core/templates/configmap-roscore.yaml b/apps/ros-core/templates/configmap-roscore.yaml
index a2cfa8f..5a7680f 100644
--- a/apps/ros-core/templates/configmap-roscore.yaml
+++ b/apps/ros-core/templates/configmap-roscore.yaml
@@ -12,3 +12,5 @@
 data:
   run_roscore.sh: |
 {{ tuple "bin/_run_roscore.sh.tpl" . | include "ros-core.template" | indent 4 }}
+  net_listener.py: |
+{{ tuple "bin/_net_listener.tpl" . | include "ros-core.template" | indent 4 }}
diff --git a/apps/ros-core/templates/statefulset-roscore.yaml b/apps/ros-core/templates/statefulset-roscore.yaml
index 58ac1cc..28cb41a 100644
--- a/apps/ros-core/templates/statefulset-roscore.yaml
+++ b/apps/ros-core/templates/statefulset-roscore.yaml
@@ -24,19 +24,39 @@
       nodeSelector:
         {{ .Values.nodeSelector.rosCore.label }}: {{ .Values.nodeSelector.rosCore.value }}
   {{- end }}
-      hostNetwork: {{ .Values.networks.hostNetwork }}
+  {{- if .Values.networks.hostNetwork }}
+      hostNetwork: true
+      dnsPolicy: None
+      dnsConfig:
+        nameservers:
+          - {{ .Values.coredns.service.clusterIP }}
+  {{- end }}
       containers:
       - name: ros-core
         image: {{ .Values.images.tags.rosCore }}
         imagePullPolicy: {{ .Values.images.pullPolicy }}
         securityContext:
           privileged: true
+        stdin: true
+        tty: true
         command:
         - /root/run_roscore.sh
         volumeMounts:
         - name: ros-core
           mountPath: /root/run_roscore.sh
           subPath: run_roscore.sh
+      - name: drone-net-listener
+        image: {{ .Values.images.tags.droneNetListener }}
+        imagePullPolicy: {{ .Values.images.pullPolicy }}
+        stdin: true
+        tty: true
+        command: ["bash", "-xc"]
+        args:
+        - python /opt/net_listener.py
+        volumeMounts:
+        - name: ros-core
+          mountPath: /opt/net_listener.py
+          subPath: net_listener.py
       volumes:
         - name: ros-core
           configMap: