From f269bc44d3a6ed216cef9c804e93f0ef31893e85 Mon Sep 17 00:00:00 2001
From: LaurieCheers <73140792+LaurieCheers-unity@users.noreply.github.com>
Date: Mon, 14 Nov 2022 16:48:57 -0800
Subject: [PATCH] When Unity publishes a message, don't send it back

---
 src/ros_tcp_endpoint/subscriber.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/ros_tcp_endpoint/subscriber.py b/src/ros_tcp_endpoint/subscriber.py
index f4c42b4..070ac7f 100644
--- a/src/ros_tcp_endpoint/subscriber.py
+++ b/src/ros_tcp_endpoint/subscriber.py
@@ -54,7 +54,9 @@ def send(self, data):
             self.msg: The deserialize message
 
         """
-        self.tcp_server.send_unity_message(self.topic, data)
+        # If Unity itself published this message, there's no need to send it back
+        if data._connection_header["callerid"] != self.tcp_server.node_name:
+            self.tcp_server.send_unity_message(self.topic, data)
         return self.msg
 
     def unregister(self):