I think because each JointTrajectoryPoint.msg has an associated "time_from_start" it is OK to batch up points and send them at once. They should get buffered if the underlaying transport has buffing. SHouldn't it work already. Perhaps all that is needed is a buffer node that subscribes to JointTrajectory and then sends them out again --- [Visit Topic](https://discourse.ros.org/t/streaming-motion-interfaces/5858/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: