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You are describing a Gazebo issue. Numerical instabilities in the simulation of contact forces causes what you describe.

Without any active controllers to counteract this, robots appear to be "dancing".

I do not add any joint state controller

Note: a joint_state_controller will not help. You'll need to add something which actively controls the joints.

You are describing a Gazebo issue. Numerical instabilities in the simulation of contact forces causes what you describe.

Without any active controllers to counteract this, robots appear to be "dancing".

I do not add any joint state controller

Note: a joint_state_controller will not help. You'll need to add something which actively controls the joints.

Edit:

What kind of active controller can I use in this case?

Any of the position_controllers, velocity_controllers or effort_controllers. Provided the urdf/xacro has the appropriate hardware interfaces added.

And why joint_state_publisher +robot_state_publisher wont work in this case?

Because this is Gazebo, which simulates dynamics. The JSP and RSP do something entirely different, and Gazebo does not take input from them.

Gazebo != RViz.