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I currently am trying to integrate MoveIt on a custom robot. The robot already has the capability to accept position-velocity trajectories which are defined over a fixed control rate (i.e t1-t0 = t2-t1 = dt) and execute.

Therefore my implementation of a FollowJointTrajectory action would be very simple as long as I make sure it only accepts goals with a fixed time step. I think this also makes sense from a real-time control perspective. The time step can change per trajectory, but must be the same within each one.

My problem is the trajectories generated by MoveIt have sporadic time deltas. I have tried setting the rate parameter in controllers.yaml but appears to do nothing and I can't really find any documentation that deals with this issue. Here is an example of the time deltas of a MoveIt trajectory:

Is there anyway I can force MoveIt to generate trajectories evenly spaced along time? I would rather not have to interpolate the trajectory points in my action server, although this is currently my backup solution.

Fix time step in generated MoveIt trajectories I currently am trying to integrate MoveIt on a custom robot. The robot al