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As in #q320899, I'm not entirely sure why you are doing this, but sampling of the trajectory is done here, as part of JointTrajectoryController<..>::update(..).

This makes use of QuinticSplineSegment::sample(..) to do the actual sampling.

You could instantiate your own JointTrajectoryController::Trajectory and populate it with a trajectory_msgs/JointTrajectory (using joint_trajectory_controller::internal::initJointTrajectory(..)) and then perform the iteration and sampling directly.

Note: most of this is in the internal namespace of joint_trajectory_controller, so not part of the public API, meaning it could change at any time and without prior notice or bw-compatibility.