Is your feature request related to a problem? Please describe.
Presently when using move_group_interface to interface with a move_group node, users can query for motion plans along with cartesian interpolations. While the former allows users to configure max_velocity_scaling_factor and max_acceleration_scaling_factor for trajectory generation, the latter has no such mechanisms. The implementation of MoveGroupCartesianPathService capability seems to always use 1.0 for these scaling factors as seen here. As a result, all cartesian interpolated trajectories always move the robot without any scaling applied. This is not always desirable especially when slow movements are required.

Describe the solution you'd like

• Update moveit_msgs/srv/GetCartesianPath to include scaling factors for velocity and acceleration
• Update move_group_interface and MoveGroupCartesianPathService to use scaling factors in the service request msg.