This controller publishes the current actual execution speed as reported by the robot. Values are floating points between 0 and 1.

scaled_controllers/SpeedScalingStateController

In the `ur_robot_driver` this is calculated by multiplying the two RTDE data fields speed_scaling (which should be equal to the value shown by the speed slider position on the teach pendant) and target_speed_fraction (Which is the fraction to which execution gets slowed down by the controller).

Filling this with the appropriate date is part of the robot hardware interface implementation.