moveit plan execution time

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There is no default plan duration in MoveIt, the maximum speed and acceleration for each of the robots joints are defined and these values will limit the speed of movement and ultimately the overall duration of the plan. So if MoveIt creates a plan it's safe to assume that this is the fastest the robot can complete the motion (assuming the maximum speeds and accelerations are set correctly).

You can slow down the speed of a plan that has already been produced, it's not a built in feature as far as I know but it's not too hard.

The RobotTrajctory message is used to store the planned motion, within this you will have either a joint_trajectory or a multi_dof_joint_trajectory depending of the type of your robot. Each of these message types is essentially a list of points in time with the positions of each joint at those points in time. Importantly the time in this case is defined as the duration from the start of the plan.

So you can loop through each point in the plan and multiply the durations by a factor less than one to slow down the plan. You can also try speeding the plan up, but there is a chance that your robot may be unable to follow the accelerated path and abort the motion.

Hope this helps.