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I am currently trying to simulate a robot in Gazebo using the ROS framework. I used this Tutorial to get an existing robot model running with the controller from the ros_control package. Everything works fine, the controller for each joints are up and running. I can use the corresponding ROS topics to send commands to each controller.

There is one slight problem: The controllers are even unable to fight the robots own weight. No mather what combination of PID gains I set for the controller, the robot is always pulled down by its own weight.

I am using a UR5 robot for simulation, the URDF file can be found here.

Here are two screenshots of the simulation, one with gravity enabled:

and one with gravity disabled:

Can anyone help me here?