add acceleration to 'move_group->stop()' command

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how can i add acceleration to stop command ? is that possible ?

No, that's not supported.

But, depending on which driver / controller you are using, you can make the stop smoother.

If you're using the wiki/joint_trajectory_controller from ros_control, the stop_trajectory_duration parameter tells the controller how long (in seconds) the trajectory it uses to stop moving should be.

If you set that to a non-zero value, stops should become much less abrupt.

Note that a non-zero value could also have negative consequences, as it will also take longer to stop in cases where you would want the robot to stop immediately (for instance when trying to implement something like "touch sensing").

If you're not using a ros_control-compatible driver, you'd have to see whether your driver supports a similar setting.