[backport] Fix #730#736
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bmagyar merged 5 commits intoros-controls:mergify/bp/humble/pr-719from Aug 5, 2023
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(cherry picked from commit c619aac) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…o define when trajectories with non-zero velocity at the end are used. (backport ros-controls#705) (ros-controls#706)
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I merged humble into #730 and activated the effort-field test