Strange behavior and instability of six-axis manipulator in ROS 2 with Gazebo(Classic) when using position control

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Hello Ros Community,

Description: I am currently in the process of developing a six-axis manipulator in ROS 2, utilizing MoveIt 2 for motion planning and Gazebo for simulation. Regrettably, I am facing a perplexing issue where the manipulator demonstrates peculiar behavior and instability, particularly when I employ position control as the command interface in Gazebo. To provide further clarity, I have included relevant visuals,launch files and urdf that can be accessed HERE.

I am using ROS2 Humble

To provide more context and aid in troubleshooting, here are the details related to the problem:

I am using the following launch file to start the Gazebo simulation and relevant ROS nodes:

ros2 launch hexa_bot_description gazebo.launch.py use_sim_time:=true

When executing the gazebo.launch.py launch file, the following log messages are displayed:

[spawn_entity-5] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity-5] warnings.warn( [ros2-7] Sucessfully loaded controller joint_state_broadcaster into state active [ros2-6] Sucessfully loaded controller arm_controller into state active