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Update:

This is my simulation now https://www.youtube.com/watch?v=rwAktml4Pq4 . I manage to repair PID tuner in tutorial. I installed gazebo6 package and it stared working properly and then I could easily set pid parameters. I set position controllers but they did not control velocity and that was huge problem. So I created trajectory controller server with gazebo-ros-control and joint stopped doing what they want. I created moveit package and use this tutorial http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/controller_configuration.html to configure moveit to connect to my joint trajectory controller. To control real simulation with moveit demo follow that tutorial and rewrite part in demo.launch <arg name="fake_execution" value="true"/> to <arg name="fake_execution" value="false"/> I also needed to setup joint_state_publisher in gazebo and rewrite joint state publisher in demo.launch to use source informations from my simulation joint_state _publisher which is publishing on topic /kv01/joint_states

 <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/> 
    <rosparam param="/source_list">[/kv01/joint_states]</rosparam>
  </node>

Last problem was with inertia matrix parameters I set intertia matrix like this <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/> to use minimum inertia and ignore it