Add time_from_start to action feedback and state message (cherry-pick #1755) (backport #1820)

[mergify]

Supersedes #1756

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This is an automatic backport of pull request #1820 done by Mergify.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 84.67%. Comparing base (8676ab0) to head (756de48).
⚠️ Report is 1 commits behind head on jazzy.

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #1988      +/-   ##
==========================================
+ Coverage   84.65%   84.67%   +0.01%     
==========================================
  Files         138      138              
  Lines       13408    13425      +17     
  Branches     1199     1199              
==========================================
+ Hits        11350    11367      +17     
  Misses       1645     1645              
  Partials      413      413              

Flag	Coverage Δ
unittests	84.67% <100.00%> (+0.01%)	⬆️

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Files with missing lines	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	82.98% <100.00%> (+0.08%)	⬆️
joint_trajectory_controller/src/trajectory.cpp	91.62% <100.00%> (+0.04%)	⬆️
...ory_controller/test/test_trajectory_controller.cpp	99.78% <100.00%> (+<0.01%)	⬆️

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