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http://answers.gazebosim.org/question/5468/gazebo_ros_pkgs-no-p-gain-specified-for-pid-in-positionjointinterface/ Adding pid gains in following format worked for me.

/gazebo_ros_control: pid_gains: shoulder_pan_joint: p: 100.0 i: 0.01 d: 10.0

http://answers.gazebosim.org/question/5468/gazebo_ros_pkgs-no-p-gain-specified-for-pid-in-positionjointinterface/ Adding pid gains in following format worked for me.

/gazebo_ros_control:
/gazebo_ros_control: pid_gains: shoulder_pan_joint: p: 100.0 i: 0.01 d: 10.010.0

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