I think this was responsible for at least some std::runtime_errors

Duration is out of dual 32-bit range

that came from initializing a ros::Duration with an uninitialized double

Author: lucasw

joint_trajectory_controller/include/trajectory_interface/pos_vel_acc_state.h

@@ -70,7 +70,7 @@ struct PosVelAccState
   std::vector<Scalar> position;
   std::vector<Scalar> velocity;
   std::vector<Scalar> acceleration;
-  Scalar time_from_start;
+  Scalar time_from_start = Scalar(0);
 };
 
 } // namespace