message: FIX: Let move_to_start motion be smooth at start & end
  When sending trajectory points with empty velocities the trajectory controller
  will use a constant velocity profile resulting in high jerks at the beginning
  and end.
  Providing a zero velocity vector will generate a bell shaped velocity profile
  making the entire motion much smoother
diff: @@ -26,6 +26,7 @@ point.time_from_start = ros.Duration.from_sec(ros.get_param('~duration', 5.))
  goal = FollowJointTrajectoryGoal()
  goal.trajectory.joint_names, point.positions = [list(x) for x in zip(*pose.items())]
  +point.velocities = [0] * len(pose)
  goal.trajectory.points.append(point)
  goal.goal_time_tolerance = ros.Duration.from_sec(0.5)
  