Comment by rem870 for Hii set a path to the katana using ROS, that is consisted of 11 points +the starting point, that should take 11 sec. instead it takes 15 secs ,why is that. as a result of this delay the robot does not reach the desired velocity - acceleration that i want (these are lower than the max vel and max acc) what should i do?thanks

i use katana_450_6m90a . i haven't tried a longer trajectory, if i try to make it shorter then i get an error that it cannot make a trajectory (probably because it exceeds the max acc,vel)