Hello,

I try to tune PID parameters for a hand model. When I used the gazebo plugin [1] SetPositionPID and SetPositionTarget, I cannot control the some of the joints which are jittering(vibrating).

However, If I use roscontrol package [2] with same PID parameters, there is no jittering on the model. More specifically, I am using **positioncontrollers/JointPositionController** with ros_control package.

Why there is differences between Gazebo Plugin and Ros control package ? How can I adapt the behavior of ros_control package into the gazebo plugin?

Thank you

[1] http://osrf-distributions.s3.amazonaws.com/gazebo/api/11.0.0/classgazebo_1_1physics_1_1JointController.html

[2] http://wiki.ros.org/ros_control