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By default, the velocity and acceleration is set to 10% of the robot's maximum in MoveIt (starting from Noetic). You can change the values in your code with this C++ and this Python function, or change the default value in the joint_limits.yaml file in your moveit_config package.
In addition to what @fvd writes, also check whether the robot model has appropriate velocity and acceleration limits configured.
If it doesn't, MoveIt (or actually: the time-parameterisation plugins) will assume a default of 1.0 rad/s and 1.0 rad/s^2 for all joints without limits:
Asked: 2020-03-08 22:50:39 -0500
Seen: 1,810 times
Last updated: Mar 09 '20
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