Real time Speed Control of UR5E using ROS


Is it possible to control Speed_Scaling_Factor for UR5E robot in ROS.
I am able to smoothly control UR5E using Moveit go() function & joint angle. I also tried using compute_cartesian_path() & retime_trajectory() functions but not able to change the speed in real time.
I am looking to control the Speed_scaling_factor using Subscriber & Publisher. I am new to ROS so please guide me.