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ros_control velocity_controllers/JointPositionController not working

Hi I am trying to use a velocity_controllers/JointPositionController from ros_control pkg, although either it does not respond or became totally unstable without any errors. The PID values are not the problem since are extremely low (it crashes even with only kp = 0.001 with UR10 robot) In particular as soon as I spawn and start two controllers for two different controllers get unstable.