Note that it’s currently unfortunately impossible – to my knowledge – to get this sort of motion performance out of Fanuc robots when controlled ‘from ROS’ without generating paths off-line and uploading them wholesale to the controller for execution (or: parameterising hard-coded trajectories). Real on-line (ie: feedback) external control of Fanucs is not really possible.
This might change in the future, but I just wanted to clarify the current situation.