In "Ulysses," why is Ulysses not content to stay and rule his country?

It seems very much as
if we are presented with a character who is consumed by wander-lust, and although he now has the
long-sought for stability and peace that he has endured so much to gain, actuallyfinds that this
tranquility is anathema to him, and he longs to return to his life of adventure, risk and
discovery. Note how his reasons are developed in the first few lines of the poem:

It little profits that an idle king,

By this
still hearth, among these barren crags,

Matched with an...