From c8c27c15579fad1d817cc6cfac7a8e62a3da081d Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Mon, 16 Sep 2019 15:24:27 +0200
Subject: [PATCH] Added a service to set the speed slider position (#454)

Squashed commits:

* Added a service to set the speed slider position
* Use a more specific name for the data
  The name used is the same as defined in the RTDE interface.
* Added an explanation with valid data range to the service.
* Update comment.
* Renamed service to SetSpeedSliderFraction
  This better represents the technical background
* Use correct name of svc def file.
* Fixup
---
 ur_msgs/CMakeLists.txt                 | 1 +
 ur_msgs/srv/SetSpeedSliderFraction.srv | 8 ++++++++
 2 files changed, 9 insertions(+)
 create mode 100644 ur_msgs/srv/SetSpeedSliderFraction.srv

diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 1b34573..84f715b 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -23,6 +23,7 @@ add_message_files(
 add_service_files(
    FILES
    SetPayload.srv
+   SetSpeedSliderFraction.srv
    SetIO.srv
 )
 
diff --git a/ur_msgs/srv/SetSpeedSliderFraction.srv b/ur_msgs/srv/SetSpeedSliderFraction.srv
new file mode 100644
index 0000000..263a375
--- /dev/null
+++ b/ur_msgs/srv/SetSpeedSliderFraction.srv
@@ -0,0 +1,8 @@
+# Set the speed slider on the teach pendant to the specified value.
+#
+# Values for 'speed_slider_fraction' must be from [0; 1.0]; values outside this
+# valid range will result in an error being returned to the caller.
+
+float64 speed_slider_fraction
+---
+bool success
-- 
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