Trajectory tracking with different velocities

In SITL, I am interested in creating predefined “macro” actions (predefined arcs) with different speeds.
I am using MAVROS and tried to use setpoint but i am not sure how to change the velocity. I stumbled upon path_planning_interface and also mavros_controllers but I don’t understand how to change the velocity when moving to a setpoint. Is changing MPC_XY_CRUISE parameter will produce the desired effect?
Thank you

@rlpx4 For mavros_controllers, you can change the speed by changing the interval with shape_omega