Your description is a bit vague, and there could be various reasons for why robots don't move at their maximum capabilities.
None of the packages you mention are artificially limiting the joint velocity limits, so I'd be surprised if it'd make any difference which you use.
When you write:
I have used both the Universal Robots package from Universal Robots and ROS Industrial
I assume you're not talking about the drivers, are you?
One thing to check would be to make sure you have acceleration limits configured in your MoveIt configuration, if you generated it yourself. The setup assistant will not configure them for you, which will make MoveIt use 1.0 rad/s^2 as defaults.
Another thing to check would be MoveIt's settings: the default for the speed and acceleration scaling factors has recently been changed to something much lower than 1.0 -- and for good reason. If you don't change that, you'll get much slower motion.
Edit:
Yes, I am referring to the drivers.
you should not be using ur_driver with a modern CB3 or e-Series controller. I very much doubt that you have.
Neither ur_modern_driver: it's been marked as deprecated for about a year now. I doubt you could have missed that.
As far as the acceleration limits, I don't see an option to set those in the Moveit! Setup Assistant, but the file my_moveit_config/config/joint_limits.yaml has the variable has_acceleration_limits set to false (so I would assume it is not the issue)
No, that's actually a problem.
See here where DEFAULT_ACCEL_MAX will be used if there are no acceleration limits. And DEFAULT_ACCEL_MAX = 1.0 (here).
Additionally, config/chomp_planning.yaml has an acceleration variable, smoothness_cost_acceleration, which is set to 1.0. I tried setting it equal to 0.01 and 100 and observed no difference in speed.
That's all unrelated, unless you're actually using CHOMP as your planner. Which I don't believe you are.
