Industrial Robot Client - time/duration handling incorrect

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Current handling of trajectory velocities and time_from_start is incorrect:
  1) simple_message protocol does not pass time_from_start to robot, so trajecories can't be delayed or spliced appropriately on the robot controller
  2) joint_trajectory_streamer should respect time_from_start when streaming points to robots
  3) duration is calculated using time_from_start, but should really be based on delta-position and trajectory velocities.

Original issue reported on code.google.com by [email protected] on 14 Feb 2013 at 5:45