accelerate dc servo motor with time [closed]

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respected all,

I am involved in the work for my study purpose in which i have configured servo motor using ROS ad arduino. But now i wanted servo motor to run in trapezoidal profile. Means it should accelerate(speed increases gradually) in initial stage, then after constant and at last speed must be decreased gradually to stop it. so that jerks is no more there.

So i would request you all that whether ROS provides any functionality for this profile as said above. I am using QT for GUI, in which angle and time are taken from user.

I would be thankful to all.

Thanks in advance