adjust controllers to new hardwareInterface - affects simulation only

ur_gazebo/controller/arm_controller_ur10.yaml

 arm_controller:
-  type: effort_controllers/JointTrajectoryController
-  topic: "test"
+  type: position_controllers/JointTrajectoryController
   joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
@@ -8,16 +7,9 @@ arm_controller:
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint
-  gains:
-    shoulder_pan_joint: {p: 600.0, i: 500.0, d: 100.0, i_clamp: 100.0}
-    shoulder_lift_joint: {p: 1500.0, i: 500.0, d: 100.0, i_clamp: 100.0}
-    elbow_joint: {p: 1500.0, i: 500.0, d: 100.0, i_clamp: 100.0}
-    wrist_1_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
-    wrist_2_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
-    wrist_3_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
   constraints:
       goal_time: 0.6
-      stopped_velocity_tolerance: 0.5
+      stopped_velocity_tolerance: 0.05
       shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
       shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
       elbow_joint: {trajectory: 0.1, goal: 0.1}

ur_gazebo/controller/arm_controller_ur5.yaml

 arm_controller:
-  type: effort_controllers/JointTrajectoryController
-  topic: "test"
+  type: position_controllers/JointTrajectoryController
   joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
@@ -8,16 +7,9 @@ arm_controller:
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint
-  gains:
-    shoulder_pan_joint: {p: 10000.0, i: 500.0, d: 200.0, i_clamp: 100.0}
-    shoulder_lift_joint: {p: 10000.0, i: 500.0, d: 200.0, i_clamp: 100.0}
-    elbow_joint: {p: 10000.0, i: 500.0, d: 100.0, i_clamp: 100.0}
-    wrist_1_joint: {p: 100.0, i: 0.0, d: 10.0, i_clamp: 0.0}
-    wrist_2_joint: {p: 100.0, i: 0.0, d: 10.0, i_clamp: 0.0}
-    wrist_3_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
   constraints:
       goal_time: 0.6
-      stopped_velocity_tolerance: 0.5
+      stopped_velocity_tolerance: 0.05
       shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
       shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
       elbow_joint: {trajectory: 0.1, goal: 0.1}