New version of MoveIt! binary 0.7.6 is just released for ROS Indigo, first time in 2017 (for sure!) and first release since June 2016. This version comes with some long-wanted features (along with bug fixes of course) that we’re trying out using NEXTAGE simulator.
1. Changing trajectory velocity and acceleration during runtime
Changing the speed of the trajectory during runtime has been one of FAQs from NEXTAGE users who use MoveIt!, let alone many MoveIt! users on the globe. Now through MoveIt! RViz plugin you can conveniently configure that on the fly on the spinboxes added.
To configure that programmatically, see this tutorial that explains chainging MotionPlanRequest topic would do the work.
TORK is very actively contributing the development and maintenance of MoveIt!.