[backport] Fix #723#737
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bmagyar merged 6 commits intoros-controls:mergify/bp/humble/pr-714from 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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Fix #723: merge humble and re-add state-publisher rate (it's deletion was not backported to humble)