motion_planning_msgs/JointTrajectoryWithLimits Message

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
motion_planning_msgs/JointLimits[] limits
    string joint_name
    uint8 has_position_limits
    float64 min_position
    float64 max_position
    uint8 has_velocity_limits
    float64 max_velocity
    uint8 has_acceleration_limits
    float64 max_acceleration