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The commanded velocity not being achieved shouldn't have any effect on the TrajectoryPlanner's ability to run. In fact, I've had our robot sit e-stopped for many minutes with a velocity being commanded and never seen anything like this. I'm very surprised that upping the velocity limits solves the costmap timeout problem for you as it should be totally unrelated.

I'm glad that you have things working, but I'm still quite puzzled as to what was actually going on.

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