Difference between SetPositionPID in gazebo plugin and ros_control package

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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 ros_control package [2] with same PID parameters, there is no jittering on the model. More specifically, I am using position_controllers/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.amazonaw...

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