hotfix: include patched JTC back

.devcontainer/Dockerfile

@@ -43,7 +43,6 @@ RUN apt-get update && \
     ros-humble-joint-state-broadcaster \
     ros-humble-ament-cmake-clang-tidy \
     libignition-gazebo6-dev \
-    ros-humble-joint-trajectory-controller \
     libpoco-dev \
     libeigen3-dev \
     && rm -rf /var/lib/apt/lists/*

.devcontainer/devcontainer.json

@@ -13,15 +13,7 @@
 				"bungcip.better-toml",
 				"ms-vscode.cpptools",
 				"ms-vscode.cpptools-extension-pack"
-			],
-			"settings": {
-				"terminal.integrated.defaultProfile.linux": "bash",
-				"terminal.integrated.profiles.linux": {
-					"bash": {
-						"path": "/bin/bash"
-					}
-				}
-			}
+			]
 		}
 	}
 }

joint_trajectory_controller/CMakeLists.txt

@@ -0,0 +1,122 @@
+cmake_minimum_required(VERSION 3.5)
+project(joint_trajectory_controller)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  angles
+  control_msgs
+  control_toolbox
+  controller_interface
+  generate_parameter_library
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  rsl
+  tl_expected
+  trajectory_msgs
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+generate_parameter_library(joint_trajectory_controller_parameters
+  src/joint_trajectory_controller_parameters.yaml
+  include/joint_trajectory_controller/validate_jtc_parameters.hpp
+)
+
+add_library(joint_trajectory_controller SHARED
+  src/joint_trajectory_controller.cpp
+  src/trajectory.cpp
+)
+target_compile_features(joint_trajectory_controller PUBLIC cxx_std_17)
+target_include_directories(joint_trajectory_controller PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/joint_trajectory_controller>
+)
+target_link_libraries(joint_trajectory_controller PUBLIC
+  joint_trajectory_controller_parameters
+)
+ament_target_dependencies(joint_trajectory_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(joint_trajectory_controller PRIVATE "JOINT_TRAJECTORY_CONTROLLER_BUILDING_DLL" "_USE_MATH_DEFINES")
+pluginlib_export_plugin_description_file(controller_interface joint_trajectory_plugin.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_trajectory test/test_trajectory.cpp)
+  target_include_directories(test_trajectory PRIVATE include)
+  target_link_libraries(test_trajectory ${PROJECT_NAME})
+
+  ament_add_gmock(test_trajectory_controller
+    test/test_trajectory_controller.cpp
+    ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_joint_trajectory_controller.yaml)
+  set_tests_properties(test_trajectory_controller PROPERTIES TIMEOUT 220)
+  target_include_directories(test_trajectory_controller PRIVATE include)
+  target_link_libraries(test_trajectory_controller
+    ${PROJECT_NAME}
+  )
+  ament_target_dependencies(test_trajectory_controller
+    ${THIS_PACKAGE_INCLUDE_DEPENDS}
+  )
+
+  ament_add_gmock(
+    test_load_joint_trajectory_controller
+    test/test_load_joint_trajectory_controller.cpp
+  )
+  target_include_directories(test_load_joint_trajectory_controller PRIVATE include)
+  ament_target_dependencies(test_load_joint_trajectory_controller
+    controller_manager
+    control_toolbox
+    realtime_tools
+    ros2_control_test_assets
+  )
+
+  # TODO(andyz): Disabled due to flakiness
+  # ament_add_gmock(
+  #   test_trajectory_actions
+  #   test/test_trajectory_actions.cpp
+  # )
+  # target_include_directories(test_trajectory_actions PRIVATE include)
+  # target_link_libraries(test_trajectory_actions
+  #   ${PROJECT_NAME}
+  # )
+  # ament_target_dependencies(test_trajectory_actions
+  #   ${THIS_PACKAGE_INCLUDE_DEPENDS}
+  # )
+endif()
+
+
+install(
+  DIRECTORY include/
+  DESTINATION include/joint_trajectory_controller
+)
+install(TARGETS
+    joint_trajectory_controller
+    joint_trajectory_controller_parameters
+  EXPORT export_joint_trajectory_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+ament_export_targets(export_joint_trajectory_controller HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()
+

joint_trajectory_controller/README.md

@@ -0,0 +1,10 @@
+**This package is from [this Pull Request](https://github.com/ros-controls/ros2_controllers/pull/558/).
+This PR contains features to ensure that the current robot configuration is used as a goal when the JTC hasn't already been passed a goal**
+
+# Original README
+
+# joint_trajectory_controllers package
+
+The package implements controllers to interpolate joint's trajectory.
+
+For detailed documentation check the `docs` folder or [ros2_control documentation](https://ros-controls.github.io/control.ros.org/).