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I just needed to compute the timestamps before reading them. I added these three lines and it works fine :

  #include <moveit/trajectory_processing/iterative_time_parameterization.h>

then, after generating the plan :

  trajectory_processing::IterativeParabolicTimeParameterization iptp(100, 0.05);
  iptp.computeTimeStamps(*res.trajectory_, speed_scale, 1.0);

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