ROS-Answers question by arennuit

https://answers.ros.org/question/196954/cartesian-trajectory-description-which-message-type

Feature list

• Contains accelerations

Features required from hardware / driver

• Control interface

Message definition

Note: The source itself does not contain a message definition, so this is an interpretation of the plain text.

[CartesianTrajectoryGoal]
string reference_frame # could also come through header
CartesianTrajectoryPoint[] points
  duration time_from_start
  Pose pose
  Twist twist
  Twist acceleration