Ufactory uf850 moveit_servo Issue similar to #2191 MoveIt Servo moving at vastly different cartesian speed than instructed

[Kushang00]

Description

The moveit_servo works fine in simulation with uf850 robot arm, being robust and moving with response but when connected to hardaware it doesn't behave in the same way with delta_twist_cmds.
The repo is built upon moveit_servo
Github: https://github.com/xArm-Developer/xarm_ros2/tree/humble

ROS Distro

Humble

OS and version

Ubuntu 22.04

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

humble

Which RMW are you using?

None

Steps to Reproduce

Running the launch file and using the python script to publish the velocity commands based on error between eef position and goal position or with constant velocity

Expected behavior

Robot should move at the same cartesian speed -constant or pid or proportional controlled with different values

Actual behavior

Robot moves at slow speed

Backtrace or Console output

No response