Sending trajectory_msgs to a 6-axis robot from a terminal can be a challenging task due to the complex structure of the message type itself. To simplify this process, you will learn how to write a joint publisher in C++ that publishes the joint angles required for the robot to reach a specific position. By understanding how to create this publisher, you will gain valuable insights into the inner workings of robotic control systems and enhance your ability to communicate with and control robots effectively.

Utilizing this template for Forward Kinematics, you will be able to calculate and control the position and orientation of the end-effector of the robot based on the given joint angles. This foundational knowledge is essential for developing advanced manufacturing solutions and robotic applications that require precise control over the robot's movements.