tune PID gains for gazebo joint_trajectory_controller

ur_gazebo/controller/arm_controller_ur5.yaml

@@ -9,12 +9,12 @@ arm_controller:
      - wrist_2_joint
      - wrist_3_joint
   gains:
-    shoulder_pan_joint: {p: 1000.0, i: 0.0, d: 0.0, i_clamp: 0.0, i_clamp_min: 0.0, i_clamp_max: 0.0}
-    shoulder_lift_joint: {p: 1000.0, i: 0.0, d: 0.0, i_clamp: 0.0, i_clamp_min: 0.0, i_clamp_max: 0.0}
-    elbow_joint: {p: 1000.0, i: 0.0, d: 0.0, i_clamp: 0.0, i_clamp_min: 0.0, i_clamp_max: 0.0}
-    wrist_1_joint: {p: 1000.0, i: 0.0, d: 0.0, i_clamp: 0.0, i_clamp_min: 0.0, i_clamp_max: 0.0}
-    wrist_2_joint: {p: 1000.0, i: 0.0, d: 0.0, i_clamp: 0.0, i_clamp_min: 0.0, i_clamp_max: 0.0}
-    wrist_3_joint: {p: 1000.0, i: 0.0, d: 0.0, i_clamp: 0.0, i_clamp_min: 0.0, i_clamp_max: 0.0}
+    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