Describe the bug
When passing a trajectory to the JTC, it will add a segment from the current state (or the last commanded state based on the config) to the first point of the trajectory. If the hardware doesn't provide an acceleration in its state interface, the has_accel check will be false for the first segment, leading to a quadratic spline parametrization for that segment which I feel to be unexpected, as I did specify accelerations for the first trajectory point.

Screenshots
The following picture explains that: There is a trajectory with three setpoints. At each setpoints a velocity and acceleration vector of 0 is specified. The second and third segment show a smooth rampup of velocity while the first segment has a sudden change in velocity and therefore a jump in acceleration.

Expected behavior
Is that desired behavior? I would expect that the first segment has a smooth rampup, as well. I made a quick check and when adding a 0 acceleration vector into the state_before_traj_msg_ in case where the first trajectory point has accelerations indeed results in a smooth velocity profile.

Environment

• Version: Rolling dev