robot arm does not move to position

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i made a custom robot arm, when i move it to a goal location it seems it is not going all the way can someone tell what is the error

these are the two errors i get

[ERROR] [1642313558.861341266, 594.738000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/fixed
[ERROR] [1642313558.863809908, 594.738000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/base_link_link_1
[ERROR] [1642313558.866117305, 594.738000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/link_1_link_2
[ERROR] [1642313558.868373824, 594.738000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/link_2_link_3
[ERROR] [1642313558.870641273, 594.738000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/link_3_link_4
[ERROR] [1642313558.872834056, 594.738000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/link_4_link_5
[ERROR] [1642313558.875107864, 594.738000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/link_5_link_6


[ WARN] [1642313589.079748323, 620.865000000]: Controller '/robot_controller' failed with error GOAL_TOLERANCE_VIOLATED: 
[ WARN] [1642313589.081102033, 620.865000000]: Controller handle /robot_controller reports status ABORTED