diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp
index 3ced840c02..094348343f 100644
--- a/joint_trajectory_controller/src/trajectory.cpp
+++ b/joint_trajectory_controller/src/trajectory.cpp
@@ -185,6 +185,7 @@ bool Trajectory::sample(
     }
   }
 
+  output_state.time_from_start = next_point.time_from_start;
   // whole animation has played out
   start_segment_itr = --end();
   end_segment_itr = end();
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
index ec3391a9e1..e01ef9b9a1 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -461,7 +461,31 @@ TEST_P(TrajectoryControllerTestParameterized, state_topic_consistency_command_jo
     EXPECT_EQ(n_joints, state->output.effort.size());
   }
 }
+/**
+ * @brief check if time_from_start is populated correctly
+ */
+TEST_F(TrajectoryControllerTest, time_from_start_populated)
+{
+  rclcpp::executors::SingleThreadedExecutor executor;
+  SetUpAndActivateTrajectoryController(executor, {});
+  subscribeToState(executor);
 
+  // schedule a single waypoint at 100ms:
+  builtin_interfaces::msg::Duration tfs;
+  tfs.sec = 0;
+  tfs.nanosec = 100000000;
+  publish(tfs, {INITIAL_POS_JOINTS}, rclcpp::Time(0));
+  traj_controller_->wait_for_trajectory(executor);
+
+  updateController();
+  // give the publish timer one more spin
+  executor.spin_some();
+
+  auto state = getState();
+  ASSERT_TRUE(state);
+  EXPECT_EQ(state->feedback.time_from_start.sec, 0u);
+  EXPECT_EQ(state->feedback.time_from_start.nanosec, 100000000u);
+}
 /**
  * @brief check if dynamic parameters are updated
  */