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Hi Felix,

My advice on simulating a velocity controlled robot arm in gazebo is to use a joint position controller in gazebo. To do this, you have to program a interface which accepts the desired velocity from your trajectory planner and integrates the velocity to the desired position. Then you can send this position to the joint position controller. In the real hardware, you are not required to use this interface, you can just directly send the planning result to the robot. This works for our velocity controlled kuka LBR.

I have experienced some similar issue by tuning the joint velocity controller in the earlier version of gazebo without any success. Because of the physics simulation, i can never get the exact desired velocity to be set on the arm, which causes an position error between the planned and executed trajectory.