cob_srvs/SetJointTrajectory Service

trajectory_msgs/JointTrajectory trajectory
    Header header
        uint32 seq
        time stamp
        string frame_id
    string[] joint_names
    trajectory_msgs/JointTrajectoryPoint[] points
        float64[] positions
        float64[] velocities
        float64[] accelerations
        duration time_from_start

---

int64 success
std_msgs/String errorMessage
    string data