update motionrequest message

msg/MotionPlanRequest.msg

@@ -51,6 +51,17 @@ float64 allowed_planning_time
 float64 max_velocity_scaling_factor
 float64 max_acceleration_scaling_factor
 
+# New joint limits to use when running time-parameterization and smoothing.
+# Note, this does not replace the values in the robot model.
+# Only applicable for TOTG and Ruckig
+# Set the 'has_limits' field to true for velocity, acceleration, and/or jerk
+# in order for that limit to be applied. Position limits are not supported.
+JointLimits[] joint_limits
+
+# If true, use the joint limits defined in the 'joint_limits' field.
+# Otherwise, use the max scaling factors defined for velocity and acceleration
+bool use_joint_limits
+
 # Maximum cartesian speed for the given end effector.
 # If max_cartesian_speed <= 0 the trajectory is not modified.
 # These fields require the following planning request adapter: default_planner_request_adapters/SetMaxCartesianEndEffectorSpeed