Scale acceleration and velocity of cartesian interpolations in MoveGroupCartesianPathService

[Yadunund]

Description

Fixes #1967
Requires moveit/moveit_msgs#154

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (d53f785) 50.87% compared to head (4352306) 50.86%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1968      +/-   ##
==========================================
- Coverage   50.87%   50.86%   -0.00%     
==========================================
  Files         391      391              
  Lines       32153    32153              
==========================================
- Hits        16356    16353       -3     
- Misses      15797    15800       +3     

see 1 file with indirect coverage changes

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