fkie_master_discovery: do not send requests if listen_mcast is disabled
@@ -708,7 +708,7 @@ class Discoverer(object):
if not (invalid_uri or invalid_state or rospy.is_shutdown() or self.do_finish):
self._publish_current_state()
# send update requests to group
- if timer and self._init_notifications < self.INIT_NOTIFICATION_COUNT:
+ if timer and self._listen_mcast and self._init_notifications < self.INIT_NOTIFICATION_COUNT:
self._init_notifications += 1
rospy.logdebug("Send requests while init %d/%d" % (self._init_notifications, self.INIT_NOTIFICATION_COUNT))
self._request_state()
@@ -1131,6 +1131,7 @@ class Discoverer(object):
if v.mastername is not None:
# send an active unicast request
self._request_state(k[0][0], [v])
+ if self._listen_mcast:
self._request_state()
# self._send_current_state()
except:
