Alessandro Tondo

_There's no acceleration data available in a joint handle_ (cf. [joint_trajectory_controller_impl.h](https://github.com/ros-controls/ros_controllers/blob/jade-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h#L411)). Is it at least scheduled or it does not worth the effort at the moment?

I don't know if I am able to let you reproduce this problem but I try to explain in a detailed fashion. I am using a default `position_controllers/JointTrajectoryController` with a...