[JTC] Activate checks for parameter validation (backport #857)

[mergify]

This is an automatic backport of pull request #857 done by Mergify.
Cherry-pick of fcc0847 has failed:

On branch mergify/bp/humble/pr-857
Your branch is up to date with 'origin/humble'.

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Unmerged paths:
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	both modified:   joint_trajectory_controller/test/test_trajectory_controller.cpp
	both modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[christophfroehlich]

Included in #801