The moveit launch file in abb_bringup does not load and pass the joint_limits.yaml file from the moveit config package to the move_group node. Without the use_velocity_limits and use_acceleration_limits params set true, the time optimal trajectory generation will normalize velocity and acceleration of joint trajectory points between [0, 1] resulting in slower motions.
The moveit launch file in
abb_bringupdoes not load and pass thejoint_limits.yamlfile from the moveit config package to themove_groupnode. Without theuse_velocity_limitsanduse_acceleration_limitsparams settrue, the time optimal trajectory generation will normalize velocity and acceleration of joint trajectory points between [0, 1] resulting in slower motions.