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You can do it just as you filled the Point. For instance, if you want to fill the joint_names of a MultiDofJointTrajectory:

rostopic pub mdjt trajectory_msgs/MultiDOFJointTrajectory  '{joint_names:[name1, name2]}'


have a look at this answer. It is a bit clunky (especially when the vectors you are trying to fill aren't simple types), so it's probably useful to play around a bit in a text editor. For a slightly more intricate example:

rostopic pub mdjt trajectory_msgs/MultiDOFJointTrajectory  '{joint_names:[name1, name2, name3], points:[{time_from_start: {secs: 1, nsecs: 100}}, {time_from_start: {secs: 100, nsecs: 300}}]}'


Good luck.