Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
This controller has been modified to include a velocity service with which to set the velocity while moving. This solution is very hacky, and the controller gives inconsistent estimation of execution time.
The velocity can be set as a percentage of the maximum velocity by calling the service 'joint_velocity_service'. The name can be modified in a launch file.