diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff23ff2..dcfd0c1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -99,6 +99,7 @@ set(srv_files
   "srv/RenameRobotStateInWarehouse.srv"
   "srv/DeleteRobotStateFromWarehouse.srv"
   "srv/ServoCommandType.srv"
+  "srv/ChangeJointLimits.srv"
 )
 
 set(action_files
diff --git a/action/GlobalPlanner.action b/action/GlobalPlanner.action
index 8500f62..5e71190 100644
--- a/action/GlobalPlanner.action
+++ b/action/GlobalPlanner.action
@@ -1,5 +1,6 @@
 # Motion planning request to the global planner
 string planning_group
+trajectory_msgs/JointTrajectory trajectory
 moveit_msgs/MotionSequenceRequest motion_sequence
 ---
 # Motion planning response from the global planner
diff --git a/action/HybridPlanner.action b/action/HybridPlanner.action
index ff1b917..eee7482 100644
--- a/action/HybridPlanner.action
+++ b/action/HybridPlanner.action
@@ -1,5 +1,6 @@
 # Motion planning request to the hybrid planning architecture
 string planning_group
+trajectory_msgs/JointTrajectory trajectory
 moveit_msgs/MotionSequenceRequest motion_sequence
 ---
 # Result of the hybrid planning
diff --git a/msg/MotionPlanRequest.msg b/msg/MotionPlanRequest.msg
index c2e1b4b..fa54f51 100644
--- a/msg/MotionPlanRequest.msg
+++ b/msg/MotionPlanRequest.msg
@@ -51,6 +51,16 @@ 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.
+# 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, smoothing will be skipped when applying a smoothing adapter during
+# trajectory processing (if it is defined as a request adapter).
+bool skip_smoothing
+
 # Maximum cartesian speed for the given link.
 # If max_cartesian_speed <= 0 the trajectory is not modified.
 # These fields require the following planning request adapter: default_planner_request_adapters/LimitMaxCartesianLinkSpeed
diff --git a/srv/ChangeJointLimits.srv b/srv/ChangeJointLimits.srv
new file mode 100644
index 0000000..6855dcd
--- /dev/null
+++ b/srv/ChangeJointLimits.srv
@@ -0,0 +1,4 @@
+# A list of joint limits to modify
+JointLimits[] limits
+---
+bool success
\ No newline at end of file