using shiftTime method now in trajectory controller

source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp

@@ -168,7 +168,14 @@ void TrajectoryControllerSubUnit::loadJointTraj(const TrajectoryBasePtr& jointTr
         return;
     }
 
-    this->jointTraj = this->jointTraj->normalize(0, *this->jointTraj->getTimestamps().rbegin() - *this->jointTraj->getTimestamps().begin());
+    if (this->jointTraj->size() == 0)
+    {
+        ARMARX_ERROR << "Error when loading TrajectoryPlayer: trajectory is empty !!!";
+        return;
+    }
+
+    auto startTime = this->jointTraj->begin()->getTimestamp();
+    this->jointTraj->shiftTime(-startTime);
     usedJoints = this->jointTraj->getDimensionNames();
     ARMARX_INFO << VAROUT(usedJoints);