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This PR adds
ignition.msgs.JointTrajectory
, which is currently utilised byJointTrajectoryController
(PR - gazebosim/gz-sim#473). It provides time-parameterised control signal for each actuated single-axis joint in form of position, velocity, acceleration and effort.This message is analogous to
trajectory_msgs/msg/JointTrajectory
. I opened gazebosim/ros_gz#121, which allows conversion of this message type between ROS 2 and Ignition Transport.Note: There might not be an immediate benefit of including acceleration field, but it is added to keep consistency with the ROS msg.