Let $n$ be a natural number and $\mathcal{M}$ a set of $n \times n$-matrices over the nonnegative integers such that the joint spectral radius of $\mathcal{M}$ is at most one. We show that if the zero matrix $0$ is a product of matrices in $\mathcal{M}$, then there are $M_1, \ldots, M_{n^5} \in \mathcal{M}$ with $M_1 \cdots M_{n^5} = 0$. This result has applications in automata theory and the theory of codes. Specifically, if $X \subset Σ^*$ is a finite incomplete code, then there exists a word $w \in Σ^*$ of length polynomial in $\sum_{x \in X} |x|$ such that $w$ is not a factor of any word in $X^*$. This proves a weak version of Restivo's conjecture.