The [Move Group Interface](http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html) in MoveIt provides a `computeCartesianPath` [function](http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html#cartesian-paths) for planning a cartesian path directly by specifying a list of waypoints for the end-effector to go through. I assume that the function internally does Inverse Kinematics to compute the velocity/acceleration of joints. Is there a similar function that allows me to specify the waypoints as well as the velocity of end-effector? In particular, I want to move only the base of PR2 to follow a trajectory specified by a set of waypoints, along with the velocity of the base at each timestep.
If not, is there any other way (potentially outside of MoveIt) through which I can achieve this?
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