diff --git a/clients/roscpp/src/libros/transport/transport_tcp.cpp b/clients/roscpp/src/libros/transport/transport_tcp.cpp
index f061fc2697..1f090ac15d 100644
--- a/clients/roscpp/src/libros/transport/transport_tcp.cpp
+++ b/clients/roscpp/src/libros/transport/transport_tcp.cpp
@@ -311,9 +311,10 @@ bool TransportTCP::connect(const std::string& host, int port)
 
   int ret = ::connect(sock_, (sockaddr*) &sas, sas_len);
   // windows might need some time to sleep (input from service robotics hack) add this if testing proves it is necessary.
-  ROS_ASSERT((flags_ & SYNCHRONOUS) || ret != 0);
+  //ROS_ASSERT((flags_ & SYNCHRONOUS) || ret != 0);
   if (((flags_ & SYNCHRONOUS) && ret != 0) || // synchronous, connect() should return 0
-      (!(flags_ & SYNCHRONOUS) && last_socket_error() != ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN)) // asynchronous, connect() should return -1 and WSAGetLastError()=WSAEWOULDBLOCK/errno=EINPROGRESS
+      (!(flags_ & SYNCHRONOUS) && // asynchronous, connect() may return 0 or -1. When return 0, WSAGetLastError()=WSAEWOULDBLOCK/errno=EINPROGRESS
+      (ret != 0 && last_socket_error() != ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN))) 
   {
     ROSCPP_LOG_DEBUG("Connect to tcpros publisher [%s:%d] failed with error [%d, %s]", host.c_str(), port, ret, last_socket_error_string());
     close();