Hey there,

i just wondered, if I specify gazeboroscontrol/pid_gains in any way (in ***.ymal) e.g.:

 gazebo_ros_control/pid_gains:
     joint_a1:  {p: 50, i: 0, d: 20}
    joint_a2:  {p: 50000, i: 0, d: 20}

My gazebo robot model collapses as I start up.

However if I comment it:

# gazebo_ros_control/pid_gains:
#     joint_a1:  {p: 50, i: 0, d: 20}
#     joint_a2:  {p: 50000, i: 0, d: 20}

My gazebo robot model does not collaps (even though I get a [ERROR] [1587471515.669839874]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint_a1)

So I wondered what are the default values for the gazeboroscontrol/pid_gains

Anyway I would like to know what methods do you use to adjust the pid gains (what are the steps you would make in order to prevent your robot from collapsing (sinking on the ground).