moved service definition to seperate package

ur_rtde_driver/CMakeLists.txt

@@ -25,18 +25,10 @@ find_package(catkin REQUIRED
     trajectory_msgs
     ur_controllers
     ur_msgs
-    message_generation
+    ur_rtde_msgs
 )
 find_package(Boost REQUIRED)
 
-## Generate services in the 'srv' folder
-add_service_files(
-   FILES
-   SetSpeedSlider.srv
-)
-
-generate_messages()
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -58,7 +50,7 @@ catkin_package(
     ur_controllers
     ur_msgs
     std_srvs
-    message_runtime
+    ur_rtde_msgs
   DEPENDS
     Boost
 )

ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h

@@ -47,7 +47,7 @@
 #include <ur_controllers/scaled_joint_command_interface.h>
 
 #include "ur_rtde_driver/ur/ur_driver.h"
-#include "ur_rtde_driver/SetSpeedSlider.h"
+#include "ur_rtde_msgs/SetSpeedSlider.h"
 
 namespace ur_driver
 {
@@ -112,7 +112,7 @@ protected:
   void readBitsetData(const std::unique_ptr<rtde_interface::DataPackage>& data_pkg, const std::string& var_name,
                       std::bitset<N>& data);
 
-  bool setSpeedSlider(ur_rtde_driver::SetSpeedSliderRequest& req, ur_rtde_driver::SetSpeedSliderResponse& res);
+  bool setSpeedSlider(ur_rtde_msgs::SetSpeedSliderRequest& req, ur_rtde_msgs::SetSpeedSliderResponse& res);
   bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
 
   std::unique_ptr<UrDriver> ur_driver_;

ur_rtde_driver/package.xml

@@ -19,7 +19,6 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>boost</build_depend>
-  <build_depend>message_generation</build_depend>
 
   <depend>actionlib</depend>
   <depend>control_msgs</depend>
@@ -36,6 +35,7 @@
   <depend>ur_controllers</depend>
   <depend>ur_msgs</depend>
   <depend>std_srvs</depend>
+  <depend>ur_rtde_msgs</depend>
 
   <exec_depend>force_torque_sensor_controller</exec_depend>
   <exec_depend>joint_state_controller</exec_depend>
@@ -44,7 +44,6 @@
   <exec_depend>socat</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml" />

ur_rtde_driver/src/ros/hardware_interface.cpp

@@ -537,8 +537,8 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri
   return true;
 }
 
-bool HardwareInterface::setSpeedSlider(ur_rtde_driver::SetSpeedSliderRequest& req,
-                                       ur_rtde_driver::SetSpeedSliderResponse& res)
+bool HardwareInterface::setSpeedSlider(ur_rtde_msgs::SetSpeedSliderRequest& req,
+                                       ur_rtde_msgs::SetSpeedSliderResponse& res)
 {
   if (req.data >= 0.01 && req.data <= 1.0 && ur_driver_ != nullptr)
   {

ur_rtde_driver/srv/SetSpeedSlider.srv

@@ -1,3 +0,0 @@
-float64 data
----
-bool success