TrajectoryPoint Message
Package: nav2_msgs
Category: Navigation State Messages
Individual point in a trajectory with pose and velocity information
Message Definition
| Field | Type | Description |
|---|---|---|
time_from_start |
builtin_interfaces/Duration |
Time from trajectory start to reach this point |
pose |
geometry_msgs/Pose |
Pose at this trajectory point |
velocity |
geometry_msgs/Twist |
Velocity at this trajectory point |
acceleration |
geometry_msgs/Accel |
Optional acceleration at this point |
effort |
geometry_msgs/Wrench |
Optional force/torque to apply |
Related Messages
- Trajectory - Contains arrays of trajectory points
- All Navigation State Messages
Usage Context
Defines individual waypoints in planned robot trajectories with complete kinematic and dynamic information.