Cannot spawn robot model correctly after adding gazebo_ros_control PID parameters in .yaml robot_control config file

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Dear all,

I am facing the following situation:

I can spawn my 4-wheel robot correctly to Gazebo but while loading I get an error message:

No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/BRJ

Searching for a solution I came up with various answers proposing to add:

   # gazebo_ros_control_params.yaml
  /gazebo_ros_control:
    pid_gains:
        FRJ:
            p: 100.0
            i: 1.0
            d: 0.1
        FLJ:
            p: 100.0
            i: 1.0
            d: 0.1
        BRJ:
            p: 100.0
            i: 1.0
            d: 0.1
        BLJ:
            p: 100.0
            i: 1.0
            d: 0.1

in robot_control.yaml configuration file. When I do so, the error message disappears but then, my model is not spawned correctly in Gazebo. Specifically, the 4 wheels are missing and a small portion of my model is placed inside the ground.

Any ideas why this behavior?

robot_control.yaml:

robot: 
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # # Position Controllers ---------------------------------------
  # FLJ_position_controller:
  #   type: effort_controllers/JointPositionController
  #   joint: FLJ
  #   pid: {p: 1.0, i: 1.0, d: 0.0}
  # FRJ_position_controller:
  #   type: effort_controllers/JointPositionController
  #   joint: FRJ
  #   pid: {p: 1.0, i: 1.0, d: 0.0}

  # BLJ_position_controller:
  #   type: effort_controllers/JointPositionController
  #   joint: BLJ
  #   pid: {p: 1.0, i: 1.0, d: 0.0}

  # BRJ_position_controller:
  #   type: effort_controllers/JointPositionController
  #   joint: BRJ
  #   pid: {p: 1.0, i: 1.0, d: 0.0}


  # Velocity Controllers ---------------------------------------
  FRJ_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: FRJ
    #pid: {p: 100.0, i: 10.0, d: 0.0}

  FLJ_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: FLJ
    #pid: {p: 100.0, i: 10.0, d: 0.0}

  BRJ_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: BRJ
    #pid: {p: 100.0, i: 10.0, d: 0.0}

  BLJ_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: BLJ
    #pid: {p: 100.0, i: 10.0, d: 0.0}


    # gazebo_ros_control_params.yaml
  gazebo_ros_control:
    pid_gains:
        FRJ:
            p: 100.0
            i: 1.0
            d: 0.1
        FLJ:
            p: 100.0
            i: 1.0
            d: 0.1
        BRJ:
            p: 100.0
            i: 1.0
            d: 0.1
        BLJ:
            p: 100.0
            i: 1.0
            d: 0.1

URDF:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!--This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
  <link name="dummy">
  </link>
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00390777224516517 -0.032446267219719 0.184169550820421"/>
      <mass value="40.20121630268732"/>
      <inertia ixx="0.0149000386129946" ixy="-4.66831001352174E-09" ixz="5.23920338795194E-08" iyy="0.0234359493013497" iyz="0.000771538751024883" izz="0.0286744535302635"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.529411764705882 0.549019607843137 0.549019607843137 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="dummy_joint" type ...