def getDefaultRPCPort(zeroconf=False): try: masteruri = MasterMonitor._masteruri_from_ros() rospy.loginfo("ROS Master URI: %s", masteruri) from urlparse import urlparse return urlparse(masteruri).port+(600 if zeroconf else 300) except: import traceback print traceback.format_exc() return 11911 if zeroconf else 11611