Robot arm control with target velocity

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The easiest way to do this in MoveIt might be the Pilz industrial motion planner, which ramps up to a cartesian velocity where possible. This doesn't guarantee a velocity, but after you obtained your plan/trajectory, you can check the velocity of your end effector link manually.

The trajectory is returned by the MoveGroupInterface's plan function. You can evaluate the forward kinematics by calling the RobotState's getGlobalLinkTransform function as described here.

Add the frame of your end effector to your robot's URDF and use setEndEffectorLink to make the Pilz planner consider its velocity.