Joints of my model sway in gazebo

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Hi everyone, the joints of my robot model start to sway when I spawn it in gazebo and then launch its controllers I added previously. Here is the contents of my yaml file:

cambot: # Publish all joint states ----------------------------------- joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50
# Position Controllers --------------------------------------- tilt_position_controller:

type: effort_controllers/JointPositionController
joint: tilt
pid: {p: 100.0, i: 0.01, d: 10.0}   pan_position_controller:
type: effort_controllers/JointPositionController
joint: pan
pid: {p: 100.0, i: 0.01, d: 10.0}   lift_position_controller:
type: effort_controllers/JointPositionController
joint: lift
pid: {p: 100.0, i: 0.01, d: 10.0}

And this is the contents of my launch file:

<launch>

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

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/cambot" args="joint_state_controller tilt_position_controller"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"> <remap from="/joint_states" to="/cambot/joint_states"/> </node> </launch>

What am I supposed to do to avoid the sway situation mentioned above?