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[JTC] Set `allow_nonzero_velocity_at_trajectory_end` default false and rename class variables (backport #834) #1495

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Job	Run time
ament_cpplint	2m 19s
ament_cppcheck	2m 7s
ament_copyright	2m 38s
ament_lint_cmake	2m 19s
	9m 23s