MoveIt velocity scaling for Cartesian Path

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Would feeding the result of computeCartesianPath(..) to the IPTP be an option? With suitable values of course.

Yes, pretty sure I've done that before with success.

Yes, you can do that of course, this will generate completely new time parameters. Note (1) this only is available in C++ (2) IPTP is not the only time parameterization anymore, so you might want to play with the alternative(s)

(3) If you use C++ anyway, depending on the method you use you might not get any time parameterization(!) in your result RobotState::computeCartesianPath does not provide that afair. So you need to do this yourself afterwards. My reply assumes the OP wanted to use python.

Doesn't the commander have a retimeTrajectory() method that can do this in Python?

You are correct, I did not know about this wrapper for IPTP. This probably also works for many use cases, but (2) still remains and additionally it does not support acceleration changes until now.

I updated my answer to reflect the comments.

I tried to use trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps to control my real robot .but it seemed didnt workd.

     moveit::planning_interface::MoveGroupInterface::Plan plan;
    robot_trajectory::RobotTrajectory rt(arm.getCurrentState()->getRobotModel(),"manipulator");
    rt.setRobotTrajectoryMsg(*arm.getCurrentState(),trajectory);
    trajectory_processing::IterativeParabolicTimeParameterization iptp;
    bool ItSuccess = iptp.computeTimeStamps(rt);
    ROS_INFO("Computed time stamp %s", ItSuccess ? "SUCCEDED" : "FAILED");
    rt.getRobotTrajectoryMsg(trajectory);
   plan.trajectory_=trajectory;

how should i do to control the speed of realrobot

Please don't post questions in comments. Post a new question instead and link to this one.