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The original forward_velocity_kinematics initializes JntArrayVel with only joint velocities. According to KDL API, the joint velocities passed to JntArrayVel are treated as joint angles, which is erroneous.
JntArrayVel API reference:
http://docs.ros.org/jade/api/orocos_kdl/html/classKDL_1_1JntArrayVel.html#adf34e8e832db619091806fac9d7bf02e