[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705)

[mergify]

This is an automatic backport of pull request #705 done by Mergify.
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	modified:   joint_trajectory_controller/test/test_trajectory_actions.cpp
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	modified:   joint_trajectory_controller/src/joint_trajectory_controller.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_controller.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

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	modified:   joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml

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[christophfroehlich]

The only ABI break is the namespace of the generate_parameter_library.