fix(joint-trajectory-controller): use active tolerances in update step

[domire8]

This PR fixes issue #2100

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 84.79%. Comparing base (c703235) to head (b0dfa37).

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #2101   +/-   ##
=======================================
  Coverage   84.79%   84.79%           
=======================================
  Files         151      151           
  Lines       14607    14607           
  Branches     1266     1266           
=======================================
  Hits        12386    12386           
  Misses       1763     1763           
  Partials      458      458           

Flag	Coverage Δ
unittests	84.79% <100.00%> (ø)

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Files with missing lines	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	83.88% <100.00%> (ø)

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