Adding the Trajectory and trajectoryPoint messages

[SteveMacenski]

Description

This PR introduces a new nav_msgs/Trajectory message to compliment Path for trajectories in the style of trajectory_msgs for manipulation. This will be used on merge in Nav2 for publishing optimal trajectories from MPPI, but has broad use for time-series trajectory planners based on MPC and AI. It has been test run in Nav2 in a nav2_msgs version of the same message.

Fixes #275

Is this user-facing behavior change?

N/A, its message

Did you use Generative AI?

Nope.

Additional Information

N/A

[mjcarroll]

LGTM, I may add to PMC agenda to next week just for awareness, but looks like you have already iterated with Tully and community.

[tfoote]

A few tweaks for the documentation but otherwise lgtm

[SteveMacenski]

@tfoote done!

[tfoote]

Thanks for pushing on this. Lgtm

[SteveMacenski]

Any more approvals needed? I can pretty much use this immediately once Rolling binaries are rereleased to use this in Nav2 + make an rviz display plugin

[fujitatomoya]

Pulls: #296
Gist: https://gist.githubusercontent.com/fujitatomoya/c66ae949fe787168864ef36939322d7a/raw/9863f5cf4b93a971cbd595cd3b669473f3818fae/ros2.repos
BUILD args: --packages-above-and-dependencies nav_msgs
TEST args: --packages-above nav_msgs
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17120

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[ros-discourse]

This pull request has been mentioned on Open Robotics Discourse. There might be relevant details there:

https://discourse.openrobotics.org/t/ros-pmc-minutes-for-september-30-2025/50379/1

[SteveMacenski]

aarch64 failure looks networking related

[christophebedard]

Yeah, it was retried many times (~40 times) automatically and eventually passed.

[christophebedard]

I will create a new Rolling release.

[SteveMacenski]

Thanks @christophebedard !

[christophebedard]

done: ros/rosdistro#47900