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Hi, first check in "Software and Updates" in the "Other Software" and check if the follow is marked:

http://packages.ros.org/ros/ubuntu bionic main

If you don't have it add this and then in terminal:

sudo apt-get update

And then:

sudo apt-get install ros-melodic-rqt-joint-trajectory-controller

By the tags I assume that you have melodic distribution, but if you don't, just replace melodic with the name of your distribution