[JTC] Improve update methods for tests (backport #858)

[mergify]

This is an automatic backport of pull request #858 done by Mergify.
Cherry-pick of b853228 has failed:

On branch mergify/bp/iron/pr-858
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit b853228.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   joint_trajectory_controller/test/test_trajectory_actions.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   joint_trajectory_controller/test/test_trajectory_controller.cpp
	both modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

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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[mergify]

This pull request is in conflict. Could you fix it @mergify[bot]?