[ros-users] which package handles trajectory generating?

Hi, all,
I know motion planner packages generated collision free path, but which
packages handle the generating of trajectory (i.e., for each points in the
path, there is time information).
Or, in other words, which packages fill the timing information in
trajectory_msgs<http://www.ros.org/wiki/trajectory_msgs?action=fullsearch&context=180&value=linkto%3A%22trajectory_msgs%22>,
which will be used by spline_smoother?

Thanks.