Protect against zero frequency in TrajectoryMonitorMiddlewareHandler (backport #2423)

[mergify]

This is an automatic backport of pull request #2423 done by Mergify.

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[codecov]

Codecov Report

Attention: 5 lines in your changes are missing coverage. Please review.

Comparison is base (cfc6532) 50.70% compared to head (8a511b7) 50.74%.

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #2425      +/-   ##
==========================================
+ Coverage   50.70%   50.74%   +0.05%     
==========================================
  Files         386      386              
  Lines       31958    31960       +2     
==========================================
+ Hits        16202    16216      +14     
+ Misses      15756    15744      -12     

Files	Coverage Δ
...nitor/src/trajectory_monitor_middleware_handle.cpp	0.00% <0.00%> (ø)

... and 4 files with indirect coverage changes

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