Behavior of JointTrajectoryActionController with a single goal

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Hence, JointTrajectoryActionController actually covers a set of JointPositionControllers by allowing us to specify not only the final joint positions but also the final joint velocities and accelerations even if joint trajectory includes a single goal -at that moment-.

This way, we can extend the usage of joint position controller when we have many joints to control and the preferred control scheme is position control -like in the case of a movement mimicking robot- by creating one single controller that manages many joints at the same time. This saves us creating a JointPositionController plugin for every single joint.