diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
index 97f55fc8e3..ff7832a16b 100644
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ b/msg/templates/urtps/microRTPS_transport.cpp
@@ -232,13 +232,12 @@ ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t leng
 	}
 
 	static struct Header header = {{'>', '>', '>'}, 0u, 0u, 0u, 0u, 0u, 0u};
-	static uint8_t seq = 0;
 
 	// [>,>,>,topic_ID,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
 	uint16_t crc = crc16((uint8_t *)&buffer[sizeof(header)], length);
 
 	header.topic_ID = topic_ID;
-	header.seq = seq++;
+	header.seq = _seq_number++;
 	header.payload_len_h = (length >> 8) & 0xff;
 	header.payload_len_l = length & 0xff;
 	header.crc_h = (crc >> 8) & 0xff;
diff --git a/msg/templates/urtps/microRTPS_transport.h b/msg/templates/urtps/microRTPS_transport.h
index d74ddc86dd..784221050d 100644
--- a/msg/templates/urtps/microRTPS_transport.h
+++ b/msg/templates/urtps/microRTPS_transport.h
@@ -78,6 +78,8 @@ protected:
 protected:
 	uint32_t rx_buff_pos;
 	char rx_buffer[BUFFER_SIZE] = {};
+	bool debug = false;
+	uint8_t _seq_number{0};
 
 private:
 	struct __attribute__((packed)) Header {