allow velocity override

[simonschmeisser]

the velocity override was commented out without further description in https://github.com/ros-industrial/staubli_val3_driver/commit/4cbb7f92143987360ae85ea0bcb825275c08acf0 by @marshallpowell97

as our customer is not seeing attractive velocities (similar to #30 I assume but I did not yet capture details) we wanted to use the velocity override mode by changing this line https://github.com/ros-industrial/staubli_val3_driver/blob/7913f147663f6d54279cfb77cf90ecfb32454313/staubli_val3_driver/val3/ros_server/start.pgx#L91

[gavanderhoorn]

This was commented I believe as a result of the discussion in https://github.com/ros-industrial/staubli_val3_driver/issues/1.

[simonschmeisser]

Thanks for reminding me of that discussion, then it would be more sensible to put a 100 there I assume. (It's off by default anyway so it shouldn't be a safety concern). Or to scale/override the values on the PC. Or to investigate #30 some more

[carpintas]

On #1 they have a good point, if you set the motion descriptor velocity equal to the current monitor speed, at a speed below 100% you will get the reduction 2 times, this is if it is 50% you set the robot to be 50% of 50%, which is 25%. Unless the speed value comes as a "ROS parameter or something similar", l_mTrajPt.mDesc.vel = getMonitorSpeed() must be commeted.