http://emanual.robotis.com/docs/en/popup/how_to_set_smoothing_filter/

You can use smoothing filter

I tried it, but the acceleration profile is overshooting way too much (nearly 6 times that of max)

I am using ros-control and MoveIt! for trajectory planning and execution. However I want to increase the way-points that MoveIt! is generating for a smoother interpolation.

FYI: the interpolation is done by ros_control, not MoveIt, or at least if you're using joint_trajectory_controller, ..

.. so while configuring MoveIt to use shorter segments may help, it might be worthwhile to investigate the effect of increasing the control frequency of the ros_control parts of your setup.

I tried giving ros-control a ustom trajectory through csv with larger way-points and the interpolation was very smooth, So i am trying that may be if MoveIt! can generate more way-points then it will be good

You could take a look at longest_valid_segment_fraction.

Thanks, I varied the longest_valid_segment_fraction and due to that i am able to increase the way-points in MoveIt!. I am now using a value of 0.0005 and getting nearly 100 waypoints for a joint raotation of 90 degrees

@Pulkit123 Hello. I also want to send csv stored trajectory to ros_control to generate smooth trajectory. How did you do that?