MoveIt!

Implemented in moveit_msgs: https://github.com/ros-planning/moveit_msgs/blob/master/msg/CartesianTrajectory.msg

Feature list

• Contains accelerations

Features required from hardware / driver

• Control interface

Message definition

[CartesianTrajectory]
Header header

# The name of the Cartesian frame being tracked with respect to the base frame provided in header.frame_id
string tracked_frame

CartesianTrajectoryPoint[] points
  CartesianPoint point
    geometry_msgs/Pose pose
    geometry_msgs/Twist velocity
    geometry_msgs/Accel acceleration
  duration time_from_start