I wrote the code as following, I hope the robot goes to the coordinate (10, 10, 0) with speed 3m/s, in fact the velocity passed into GoTo function doesn't work, the velocity is always (0.4, 0, 0) :

player_pose2d_t velocity;
velocity.px = 3;
velocity.py = 0;
velocity.pa = 0;

player_pose2d_t destination;
destination.px = 10;
destination.py = 10;
destination.pa = 0;

myp2dProxy.GoTo(velocity, destination);