Fix JTC state_msg

[christophfroehlich]

on humble, I found some issues while trying to fix #1820:

From #1172

• the msg field of the wrong state_publisher was updated -> change had actually no effect
• velocity+acceleration is not updated, as commented [JTC] Report on deprecated feedback #1172 (comment)

and #1755

• only feedback+reference fields got updated, but not the deprecated actual/desired

Additional change:
desired_state.time_from_start and current_state_.time_from_start (subsequently, also entries of feedback msg) is now updated with current time as on rolling, see #1191 for the change

[codecov]

Codecov Report

❌ Patch coverage is 66.66667% with 7 lines in your changes missing coverage. Please review.
✅ Project coverage is 67.35%. Comparing base (b987384) to head (5cb0bd7).

Files with missing lines	Patch %	Lines
...ory_controller/test/test_trajectory_controller.cpp	12.50%	0 Missing and 7 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1985      +/-   ##
==========================================
- Coverage   67.36%   67.35%   -0.02%     
==========================================
  Files         122      122              
  Lines       13867    13881      +14     
  Branches     8800     8807       +7     
==========================================
+ Hits         9341     9349       +8     
+ Misses       1377     1371       -6     
- Partials     3149     3161      +12     

Flag	Coverage Δ
unittests	67.35% <66.66%> (-0.02%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	82.07% <100.00%> (+0.18%)	⬆️
...ory_controller/test/test_trajectory_controller.cpp	70.04% <12.50%> (-0.41%)	⬇️

... and 1 file with indirect coverage changes

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[MarqRazz]

Changes look good but I'm not using Humble any more so I don't have anything I can test it on.