joint_values.pyにmax_acceleraration_scaling_factorとmax_velocity_scalin…

…g_factorの設定を追加

crane_plus_examples_py/crane_plus_examples_py/joint_values.py

@@ -50,7 +50,10 @@ def main(args=None):
         crane_plus,
         "ompl_rrtc",
     )
-
+
+    plan_request_params.max_acceleration_scaling_factor = 1.0  # Set 0.0 ~ 1.0
+    plan_request_params.max_velocity_scaling_factor = 1.0  # Set 0.0 ~ 1.0
+
     # armの関節のjoint1〜4を順番に45[deg]ずつ動かす
     joint_names = ["crane_plus_joint1", "crane_plus_joint2", "crane_plus_joint3", "crane_plus_joint4"]
     target_joint_value = math.radians(45)