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True velocity control is currently not supported by MotoROS (nor motoman_driver).
Position streaming like you're trying to do also tends to not work reliably, as there is a check in the driver that your new trajectory starts at the current state of the robot (to prevent unexpected motions where the robot tries to move to the first point in the trajectory, within essentially 0 sec). Without very strict synchronisation, that is almost impossible to achieve.
There has been some work to add position streaming to motoman_driver, but it hasn't been merged into the main repository. See ros-industrial/motoman#37 and ros-industrial/motoman#88.
Another alternative might be to use wiki/fs100_motoman. This package already implements point streaming. It is rather old though (last commit about 3 years ago), so I'm not sure whether it is compatible with the current version of MotoROS.
Both of these options are rather experimental, so I expect you to have to overcome some obstacles to get this to work.
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