PIDs for ur5 provided by @arennuit

ur_gazebo/controller/arm_controller_ur5.yaml

@@ -9,11 +9,11 @@ arm_controller:
      - 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}
+    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