diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index a0b63f2a0a..1fca832c82 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -285,7 +285,7 @@ controller_interface::return_type JointTrajectoryController::update(
           {
             size_t index_cmd_joint = map_cmd_to_joints_[i];
             tmp_command_[index_cmd_joint] =
-              (state_desired_.velocities[index_cmd_joint] * ff_velocity_scale_[index_cmd_joint]) +
+              (state_desired_.velocities[index_cmd_joint] * ff_velocity_scale_[i]) +
               pids_[i]->computeCommand(
                 state_error_.positions[index_cmd_joint], state_error_.velocities[index_cmd_joint],
                 (uint64_t)period.nanoseconds());