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I might suggest you to use a P controller (set I and D parameters to zero) and increase the damping of your joints. You'll get almost what you want. The damping prevents the PID to oscillate or diverge, and using a PID controller is the most integrated solution I know for gazebo. I use this solution to avoid PID tuning for a robot arm.

<joint type="revolute" name="wheel_joint">
<pose>0 0 0 0 0 0</pose>
<parent>car</parent>
<child>wheel</child>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>3</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>