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Quaternions are used to represent rotations, not directions. What does it mean to have a rotation in a direction?

A rotation does have an axis, and given two points you could create a rotation around the axis connecting the two points. You'd still have to choose an angle for the rotation.

Since you want to communicate the direction from one point to another, it's best to use the datatype intended for communicating directions, geometry_msgs/Vector3.

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