fix(joint-trajectory-controller): use active tolerances in update step

[domire8]

This PR fixes issue #2100

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 86.83%. Comparing base (cbe0645) to head (cebfa0e).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2101      +/-   ##
==========================================
- Coverage   86.85%   86.83%   -0.02%     
==========================================
  Files         148      148              
  Lines       16267    16267              
  Branches     1365     1365              
==========================================
- Hits        14128    14126       -2     
- Misses       1632     1635       +3     
+ Partials      507      506       -1     

Flag	Coverage Δ
unittests	86.83% <100.00%> (-0.02%)	⬇️

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Files with missing lines	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	85.23% <100.00%> (ø)

... and 1 file with indirect coverage changes

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[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[domire8]

I believe this would still be valid @christophfroehlich ?

[MarqRazz]

What happens when a goal includes tolerances and then a follow up one does not? Will it fall back to the default_tolerances_ when they are not specified?

[domire8]

What happens when a goal includes tolerances and then a follow up one does not? Will it fall back to the default_tolerances_ when they are not specified?

The way I understand this part, yes.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[domire8]

This PR is not stale

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[christophfroehlich]

LGTM, thank you!