diff --git a/include/ur_rtde_driver/rtde/rtde_client.h b/include/ur_rtde_driver/rtde/rtde_client.h
index cd0ca9b..6a917e8 100644
--- a/include/ur_rtde_driver/rtde/rtde_client.h
+++ b/include/ur_rtde_driver/rtde/rtde_client.h
@@ -36,6 +36,8 @@
 #include "ur_rtde_driver/comm/producer.h"
 #include "ur_rtde_driver/rtde/data_package.h"
 #include "ur_rtde_driver/rtde/request_protocol_version.h"
+#include "ur_rtde_driver/rtde/control_package_setup_outputs.h"
+#include "ur_rtde_driver/rtde/control_package_start.h"
 
 static const int UR_RTDE_PORT = 30004;
 static const std::string PIPELINE_NAME = "RTDE Data Pipeline";
@@ -50,6 +52,8 @@ public:
   RTDEClient() = delete;
   RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier);
   ~RTDEClient() = default;
+  bool init();
+  bool start();
   bool getDataPackage(std::unique_ptr<comm::URPackage<PackageHeader>>& data_package, std::chrono::milliseconds timeout);
 
 private:
@@ -57,6 +61,8 @@ private:
   RTDEParser parser_;
   comm::URProducer<PackageHeader> prod_;
   comm::Pipeline<PackageHeader> pipeline_;
+
+  std::vector<std::string> readRecipe();
 };
 
 }  // namespace rtde_interface
diff --git a/src/rtde/rtde_client.cpp b/src/rtde/rtde_client.cpp
index 521979a..8cd8109 100644
--- a/src/rtde/rtde_client.cpp
+++ b/src/rtde/rtde_client.cpp
@@ -34,24 +34,43 @@ namespace rtde_interface
 RTDEClient::RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier)
     : stream_(ROBOT_IP, UR_RTDE_PORT), parser_(), prod_(stream_, parser_),
       pipeline_(prod_, PIPELINE_NAME, notifier)
+{
+}
+
+bool RTDEClient::init()
 {
   pipeline_.run();
-
-  sleep(1);
-
   uint8_t buffer[4096];
   size_t size;
   size_t written;
-  size = RequestProtocolVersionRequest::generateSerializedRequest(buffer);
-  std::cout << "size: " << size << std::endl;
-  std::cout << "buffer: " << static_cast<int>(buffer[0]) << " - "
-            << static_cast<int>(buffer[1]) << " - "
-            << static_cast<int>(buffer[2]) << " - "
-            << static_cast<int>(buffer[3]) << " - "
-            << static_cast<int>(buffer[4]) << std::endl;
-   stream_.write(buffer, size, written);
+  size = RequestProtocolVersionRequest::generateSerializedRequest(buffer, 2);
+  stream_.write(buffer, size, written);
+  std::unique_ptr<comm::URPackage<PackageHeader>> package;
 
-  std::cout << "wrote: " << written << std::endl;
+  pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
+  size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, 500.0, readRecipe());
+  stream_.write(buffer, size, written);
+  return pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
+}
+bool RTDEClient::start()
+{
+  uint8_t buffer[4096];
+  size_t size;
+  size_t written;
+  size = ControlPackageStartRequest::generateSerializedRequest(buffer);
+  std::unique_ptr<comm::URPackage<PackageHeader>> package;
+  stream_.write(buffer, size, written);
+  return pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
+}
+std::vector<std::string> RTDEClient::readRecipe()
+{
+  std::vector<std::string> recipe;
+  recipe.push_back("timestamp");
+  recipe.push_back("actual_q");
+  recipe.push_back("actual_qd");
+  recipe.push_back("speed_scaling");
+  recipe.push_back("target_speed_fraction");
+  return recipe;
 }
 
 bool RTDEClient::getDataPackage(