Understanding velocity commands

[maztentropy]

I am finding trouble understanding the flow of information when it comes to giving a speed setpoint in "velocity profile" mode. My motor's maximum speed is 7000 rpm and my reduction gear is 25:1. In the URDF file I introduced:

"< actuator name="test_joint_actuator">
< mechanicalReduction>25< /mechanicalReduction>
< /actuator> "

But when I give a speed setpoint it seems to reach its maximum around 50. I do not know where this 50 is coming from or what it means. How can I accurately control my motor's speed rotation?