control_msgs/FollowJointTrajectoryActionGoal Message

Header header
    uint32 seq
    time stamp
    string frame_id
actionlib_msgs/GoalID goal_id
    time stamp
    string id
FollowJointTrajectoryGoal goal
    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
    control_msgs/JointTolerance[] path_tolerance
        string name
        float64 position
        float64 velocity
        float64 acceleration
    control_msgs/JointTolerance[] goal_tolerance
        string name
        float64 position
        float64 velocity
        float64 acceleration
    duration goal_time_tolerance