action speed in move_arm tutorial

edit

I'm trying the tutorial for move_arm motion planning: http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoal

I would like to be able to change the speed of the arm motions. Instead of launching the move_arm node with:

<include file="$(find pr2_arm_navigation_actions)/launch/move_right_arm.launch"/>

I add the parameter "move_arm_frequency" as below:

  <node pkg="move_arm" type="move_arm_simple_action" output="screen" name="move_right_arm">    
    <remap from="arm_ik" to="pr2_right_arm_kinematics/get_constraint_aware_ik" />   
    <param name="group" type="string" value="right_arm" />
    <param name="controller_action_name" type="string" value="/r_arm_controller/follow_joint_trajectory" />
    <param name="move_arm_frequency" type="double" value="80" />    
  </node>

I run the tutorial example, unchanged: rosrun pr2_arm_navigation_tutorials move_arm_simple_pose_goal

However, when I change the value of "move_arm_frequency" to different values (say 1 vs. 80), I see no noticeable change in the executed action time, either slower or faster. (The default value in move_arm_simple_action.cpp is 50.) I always reset to the same joint pose, relaunched the move_arm node, and verified with "rosparam get" that the parameter has new values.

I'm pretty sure the parameter is getting updated, since a value of 0 results in a runtime error. It seems that it should affect the action completion time in the CONTROL state:

move_arm_action_feedback_.time_to_completion = ros::Duration(1.0/move_arm_frequency_);

Is there a way to change the speed of the arm motion for the move_arm example, either through this parameter or another one?