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Force Mode test: Remove wrong seq entry (backport #1488) #1489

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Merged
merged 1 commit into from
Sep 9, 2025
+6 −6
Merged

Force Mode test: Remove wrong seq entry (backport #1488) #1489

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12 changes: 6 additions & 6 deletions ur_robot_driver/test/integration_test_force_mode.py
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@ def run_force_mode(self, tf_prefix):
task_frame_pose = Pose()
task_frame_pose.position = point
task_frame_pose.orientation = orientation
header = std_msgs.msg.Header(seq=1, frame_id=tf_prefix + "tool0_controller")
header = std_msgs.msg.Header(frame_id=tf_prefix + "tool0_controller")
frame_stamp = PoseStamped()
frame_stamp.header = header
frame_stamp.pose = task_frame_pose
Expand Down Expand Up @@ -359,7 +359,7 @@ def test_illegal_force_mode_types(self, tf_prefix):
task_frame_pose = Pose()
task_frame_pose.position = point
task_frame_pose.orientation = orientation
header = std_msgs.msg.Header(seq=1, frame_id=tf_prefix + "base")
header = std_msgs.msg.Header(frame_id=tf_prefix + "base")
header.stamp.sec = int(time.time()) + 1
header.stamp.nanosec = 0
frame_stamp = PoseStamped()
Expand Down Expand Up @@ -401,7 +401,7 @@ def test_illegal_task_frame(self, tf_prefix):
task_frame_pose = Pose()
task_frame_pose.position = point
task_frame_pose.orientation = orientation
header = std_msgs.msg.Header(seq=1, frame_id=tf_prefix + "base")
header = std_msgs.msg.Header(frame_id=tf_prefix + "base")
header.stamp.sec = int(time.time()) + 1
header.stamp.nanosec = 0
frame_stamp = PoseStamped()
Expand Down Expand Up @@ -443,7 +443,7 @@ def test_start_force_mode_on_inactive_controller_fails(self, tf_prefix):
task_frame_pose = Pose()
task_frame_pose.position = point
task_frame_pose.orientation = orientation
header = std_msgs.msg.Header(seq=1, frame_id=tf_prefix + "base")
header = std_msgs.msg.Header(frame_id=tf_prefix + "base")
header.stamp.sec = int(time.time()) + 1
header.stamp.nanosec = 0
frame_stamp = PoseStamped()
Expand Down Expand Up @@ -476,7 +476,7 @@ def test_deactivating_controller_stops_force_mode(self, tf_prefix):
task_frame_pose = Pose()
task_frame_pose.position = point
task_frame_pose.orientation = orientation
header = std_msgs.msg.Header(seq=1, frame_id=tf_prefix + "base")
header = std_msgs.msg.Header(frame_id=tf_prefix + "base")
header.stamp.sec = int(time.time()) + 1
header.stamp.nanosec = 0
frame_stamp = PoseStamped()
Expand Down Expand Up @@ -570,7 +570,7 @@ def test_params_out_of_range_fails(self, tf_prefix):
task_frame_pose = Pose()
task_frame_pose.position = point
task_frame_pose.orientation = orientation
header = std_msgs.msg.Header(seq=1, frame_id=tf_prefix + "base")
header = std_msgs.msg.Header(frame_id=tf_prefix + "base")
header.stamp.sec = int(time.time()) + 1
header.stamp.nanosec = 0
frame_stamp = PoseStamped()
Expand Down