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something that worked for me was that I created the .yaml file:

/my_robot/gazebo_ros_control/pid_gains:
 base_left_wheel_joint: { p: 1.0, i: 1.0, d: 0.0 }
 base_right_wheel_joint: { p: 1.0, i: 1.0, d: 0.0 }

then added the yaml file into gazebo launch file like this:

<rosparam file="$(find self_balancing_robot)/config/you_file_name.yaml" command="load" />

something that worked for me was that I created the .yaml file:

/my_robot/gazebo_ros_control/pid_gains:
 base_left_wheel_joint: { p: 1.0, i: 1.0, d: 0.0 }
 base_right_wheel_joint: { p: 1.0, i: 1.0, d: 0.0 }

then added the yaml file into gazebo launch file like this:

<rosparam file="$(find self_balancing_robot)/config/you_file_name.yaml" my_robot_pkg)/config/you_file_name.yaml" command="load" />