With the newest version of MoveIt! (Indigo 0.7.6), we can nicely scale the velocity and acceleration of trajectory on MoveIt! RViz plugin. Looking at the [Time Parameterization tutorial] changing them programmatically during runtime seems also possible by changing `MotionPlanRequest.msg`, but how exactly can we do so?
Now I'm trying to see using [NEXTAGE](wiki.ros.org/rtmros_nextage) but I don't see that type of topic being published while MoveIt! is running.
[Related question](http://answers.ros.org/question/250190/speed-up-rvizmoveit/) by @robotfan
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