UR5 - Gazebo Joint Position controller

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Dear all,

I need to simulate a velocity control of a UR5 robot in Gazebo + ROS. But current packages of UR only has a joint trajectory controller, But I want to control individual joint velocities over time. How can I do this using existing controller ? or If I create joint position controllers how can I find pid gains that will do the simulation correctly ?

Are any other robot manipulator model with tuned position controllers for Gazebo simulation ?

Your help is really appreciated.

Thanks.