A communication device that is used for ad-hoc network communication or wireless mesh network communication includes a setting interface unit configured to set an IP address of a communication device corresponding to low-delay communication, and an ad-hoc routing control unit. When a request for low-delay communication is provided from the setting interface unit, the ad-hoc routing control unit determines a route matching the IP address of the communication device and determines whether the low-delay communication is possible. The ad-hoc routing control unit sets a control message transmission interval to the maximum interval when the low-delay communication is possible, and sets the control message transmission interval to the minimum interval when the low-delay communication is not possible.