From 402f3fb691ab5208d3e994f61e8b3d25149e29e5 Mon Sep 17 00:00:00 2001
From: Tristan Schnell <schnell@fzi.de>
Date: Thu, 1 Aug 2019 13:38:44 +0200
Subject: [PATCH] added custom service to set speed slider value

---
 ur_rtde_driver/CMakeLists.txt         | 11 ++++++++++-
 ur_rtde_driver/package.xml            |  2 ++
 ur_rtde_driver/srv/SetSpeedSlider.srv |  3 +++
 3 files changed, 15 insertions(+), 1 deletion(-)
 create mode 100644 ur_rtde_driver/srv/SetSpeedSlider.srv

diff --git a/ur_rtde_driver/CMakeLists.txt b/ur_rtde_driver/CMakeLists.txt
index 51c9ac0..87ef293 100644
--- a/ur_rtde_driver/CMakeLists.txt
+++ b/ur_rtde_driver/CMakeLists.txt
@@ -25,9 +25,18 @@ find_package(catkin REQUIRED
     trajectory_msgs
     ur_controllers
     ur_msgs
+    message_generation
 )
 find_package(Boost REQUIRED)
 
+## Generate services in the 'srv' folder
+add_service_files(
+   FILES
+   SetSpeedSlider.srv
+)
+
+generate_messages()
+
 catkin_package(
   INCLUDE_DIRS
     include
@@ -49,11 +58,11 @@ catkin_package(
     ur_controllers
     ur_msgs
     std_srvs
+    message_runtime
   DEPENDS
     Boost
 )
 
-
 # check c++11 / c++0x
 include(CheckCXXCompilerFlag)
 check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
diff --git a/ur_rtde_driver/package.xml b/ur_rtde_driver/package.xml
index bc9a207..5fcf644 100644
--- a/ur_rtde_driver/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>boost</build_depend>
+  <build_depend>message_generation</build_depend>
 
   <depend>actionlib</depend>
   <depend>control_msgs</depend>
@@ -43,6 +44,7 @@
   <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" />
diff --git a/ur_rtde_driver/srv/SetSpeedSlider.srv b/ur_rtde_driver/srv/SetSpeedSlider.srv
new file mode 100644
index 0000000..3036c79
--- /dev/null
+++ b/ur_rtde_driver/srv/SetSpeedSlider.srv
@@ -0,0 +1,3 @@
+float64 data
+---
+bool success