Hi all,

I need to describe a cartesian trajectory using messages. This trajectory description should contain:

• a reference frame
• an array of waypoints

and each waypoint should contain:

• a time
• a cartesian position (i.e. a transform or say a frame)
• a cartesian velocity
• a cartesian acceleration

Now I thought this must already exist and I had a look in common_msgs. I have stumbled accross:

• trajectory_msgs/MultiDOFJointTrajectory: which does what I want but for (multiple) joints, I could use it for my case but this would be kind of a hack, no?
• nav_msgs/Path: only includes positions (no speed, nor acceleration)

Is the ROS standard way to use trajectory_msgs/MultiDOFJointTrajectory? Or do you know if there is any other message which could better fit my needs?

Thanks,

Antoine.