JointTrajectoryController: Joint velocity states become NaN

[ajoardar007]

When providing a set of way-points separated by a given time-array (basically a trajectory-based set of way-points), after following about 40 to 100 way-points, the joint state velocities become NaN. I have documented this here, thinking that it was due to my inexperience, with a video demonstrating the same here.

This holds for both using topics and the action server.

The rosbag for the same can be found here.

[bmagyar]

I think you managed to kill the dynamic model inside Gazebo. The controller should not cause the robot to fall apart as it happens towards the end of the video.