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Gazebo_ros_pkgs: No p gain specified for pid in PositionJointInterface

I have built gazebo_ros_pkgs in the catkin workspace and working with some Joint Position Controllers (successfully - I can control my joint controllers via rqt or topics). The building part in the catkin workspace is needed for the new features to work in version 2.3.4 (see pull request #135).

However, my robot keeps sliding on the ground (slowly but sliding). Here's a video of that behavior. At first I thought it was because I hadn't included friction on my links. I did include friction but nothing changed. Also, at first I had collada models for collision, but changed them to stl. Same behavior though. I suspect visual-collision misalignment (exists in my case) problems in gazebo.

Gazebo throws some errors (not fatal ones though and continues). Here's an example:

[ERROR] [1392128262.341496657, 0.791000000]: No p gain specified for pid.  Namespace: /nao_robot/gazebo_ros_control/pid_gains/RAnklePitch_Roll_Joint

I haven't created effort joint controllers as the robot I'm trying to simulate has servo motors. I am not sure if that is entirely correct. Maybe I need effort joint controllers.

Any ideas? Thanks..