(cherry picked from commit 9908a9c)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_controller.cpp

(cherry picked from commit 8674f2d)

# Conflicts:
#	joint_trajectory_controller/CMakeLists.txt

* Fix time sources and wrong checks in tests
* Use time from update-method instead of node clock
* Readd test of last command in test_goal_tolerances_fail

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Co-authored-by: Bence Magyar <[email protected]>
(cherry picked from commit 7e13d1d)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_actions.cpp

(cherry picked from commit f70c986)

(cherry picked from commit ff6e81d)

(cherry picked from commit 2e0da5d)
(cherry picked from commit 12d46f2)

* Reject receiving trajectory of last velocity point is non-zero

* Update docs

* Add tests

* Change to parameterized test

* Rename parameter

* not true -> false

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Co-authored-by: Bence Magyar <[email protected]>
(cherry picked from commit 99b67d7)

(cherry picked from commit 88c3463)

(cherry picked from commit e49c540)

# Conflicts:
#	joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp

(cherry picked from commit 259d3d8)

(cherry picked from commit 126b95c)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_controller.cpp

* Use new state message

* Increase allowed delta for position_error_not_normalized

* Deactivate effort test