Set desired/max Cartesian end-effector speed

[gautz]

setMaxCartesianEndEffectorSpeed() should soon be available through the MoveGroup interface. Which would be the proper way to get a similar functionality in e.g. a moveTo stage? Is there some plan on integrating this?

This is following my issue on using MTC for welding #251

[rhaschke]

Velocity-related stuff is not configured in individual stages, but via the properties of a PlannerInterface: https://github.com/ros-planning/moveit_task_constructor/blob/ee6c50ad31402b00fc4b8a0d8fcd62b1c85c27b7/core/src/solvers/planner_interface.cpp#L47-L48

These are finally used to configure the MotionPlanRequest: https://github.com/ros-planning/moveit_task_constructor/blob/4fa8c10f4456e893e09212b51a06b3d2ec4e9266/core/src/solvers/pipeline_planner.cpp#L150-L151

However, as these settings are only passed to pipeline planners, they will not become effective for the CartesianPath planner!

[v4hn]

However, as these settings are only passed to pipeline planners, they will not become effective for the CartesianPath planner!

So basically, the max Cartesian speed parameter can be added to the PipelinePlanner straight away and all standard velocity parameters could be added to the other solvers as well. Adding the EEF Cartesian velocity to CartesianPath is quite a good idea I think.

Also, I would provide a WrapperBase container that can adapt all three time parameters for arbitrary stages.