diff --git a/ur_rtde_driver/CMakeLists.txt b/ur_rtde_driver/CMakeLists.txt
index 5a698fd..c522c8b 100644
--- a/ur_rtde_driver/CMakeLists.txt
+++ b/ur_rtde_driver/CMakeLists.txt
@@ -25,7 +25,6 @@ find_package(catkin REQUIRED
     trajectory_msgs
     ur_controllers
     ur_msgs
-    ur_rtde_msgs
 )
 find_package(Boost REQUIRED)
 
@@ -50,7 +49,6 @@ catkin_package(
     ur_controllers
     ur_msgs
     std_srvs
-    ur_rtde_msgs
   DEPENDS
     Boost
 )
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
index 33f5d68..4f3654a 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -43,12 +43,12 @@
 #include <ur_msgs/IOStates.h>
 #include <ur_msgs/ToolDataMsg.h>
 #include <ur_msgs/SetIO.h>
+#include "ur_msgs/SetSpeedSliderFraction.h"
 
 #include <ur_controllers/speed_scaling_interface.h>
 #include <ur_controllers/scaled_joint_command_interface.h>
 
 #include "ur_rtde_driver/ur/ur_driver.h"
-#include "ur_rtde_msgs/SetSpeedSlider.h"
 
 namespace ur_driver
 {
@@ -113,7 +113,7 @@ 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_msgs::SetSpeedSliderRequest& req, ur_rtde_msgs::SetSpeedSliderResponse& res);
+  bool setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req, ur_msgs::SetSpeedSliderFractionResponse& res);
   bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
   void commandCallback(const std_msgs::StringConstPtr& msg);
 
diff --git a/ur_rtde_driver/package.xml b/ur_rtde_driver/package.xml
index 76da1f0..b69aa00 100644
--- a/ur_rtde_driver/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -35,7 +35,6 @@
   <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>
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index 5da8180..e14e0ca 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -538,12 +538,12 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri
   return true;
 }
 
-bool HardwareInterface::setSpeedSlider(ur_rtde_msgs::SetSpeedSliderRequest& req,
-                                       ur_rtde_msgs::SetSpeedSliderResponse& res)
+bool HardwareInterface::setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req,
+                                       ur_msgs::SetSpeedSliderFractionResponse& res)
 {
-  if (req.data >= 0.01 && req.data <= 1.0 && ur_driver_ != nullptr)
+  if (req.speed_slider_fraction >= 0.01 && req.speed_slider_fraction <= 1.0 && ur_driver_ != nullptr)
   {
-    res.success = ur_driver_->getRTDEWriter().sendSpeedSlider(req.data);
+    res.success = ur_driver_->getRTDEWriter().sendSpeedSlider(req.speed_slider_fraction);
   }
   else
   {