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Based on the indentation in that yaml file, it looks like both sets of pid_parameters are not under X_arm_controller they're in the parent namespace.

You need to indent the pid_parameters block by two more spaces like (spaces replaced with . for clarity):

l_arm_controller:
..type: my_controller_pkg/LeftArmControllerPlugin
..left_shoulder_link: base_to_left_shoulder
..left_tricep_link: left_rotator_to_tricep
..left_lower_bicep_link: left_upper_to_lower_bicep
..left_upper_forearm_link: left_lower_bicep_to_upper_forearm
..left_wrist_link: left_lower_forearm_to_wrist
..left_hand_link: left_wrist_to_hand
..pid_parameters:
....p: 150.0
....i: 0.0
....d: 0.0
....i_clamp: 0.0

Based on the indentation in that yaml file, it looks like both sets of pid_parameters are not under X_arm_controller they're in the parent namespace.

You You'd need to indent the pid_parameters block by two more spaces like (spaces replaced with . for clarity):

l_arm_controller:
..type: my_controller_pkg/LeftArmControllerPlugin
..left_shoulder_link: base_to_left_shoulder
..left_tricep_link: left_rotator_to_tricep
..left_lower_bicep_link: left_upper_to_lower_bicep
..left_upper_forearm_link: left_lower_bicep_to_upper_forearm
..left_wrist_link: left_lower_forearm_to_wrist
..left_hand_link: left_wrist_to_hand
..pid_parameters:
....p: 150.0
....i: 0.0
....d: 0.0
....i_clamp: 0.0

Based on the indentation in that yaml file, it looks like both sets neither set of pid_parameters are not is under X_arm_controller they're both in the parent namespace.

You'd need to indent the pid_parameters block by two more spaces like (spaces replaced with . for clarity):

l_arm_controller:
..type: my_controller_pkg/LeftArmControllerPlugin
..left_shoulder_link: base_to_left_shoulder
..left_tricep_link: left_rotator_to_tricep
..left_lower_bicep_link: left_upper_to_lower_bicep
..left_upper_forearm_link: left_lower_bicep_to_upper_forearm
..left_wrist_link: left_lower_forearm_to_wrist
..left_hand_link: left_wrist_to_hand
..pid_parameters:
....p: 150.0
....i: 0.0
....d: 0.0
....i_clamp: 0.0