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Controller gains behind Joint::SetVelocity?

Hello,

In a plugin I am setting the rotational speed of a joint by using Joint::SetVelocity. The maximum force on that joint is limited by SetMaxForce.

I couldn't find the implementation of SetVelocity in Joint.cc. How does SetVelocity set the speed exacty? Is there a PID control in the background? If so how can I change the PID gains? I am using ROS Hydro and Gazebo 1.9.

BR