How to set initial velocity using Moveit?

asked 2019-01-09 19:56:37 -0500

wooden gravatar image

I want to set initial velocity when plan arm trajectory in Moveit. I tried to use "set_start_state" function in "moveit_commander.move_group.MoveGroupCommander". I set value in argument that RobotState.msg >joint_state > velocity.

But it overwrite only first value in "RobotTrajecotry > JointTrajectory > JointTrajectoryPoint > velocities. It not consider max acceleration and so on.

Can I plan trajectory considering initial velocity using Moveit?

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