如果出现如下图所示的问题：
我们找到设置pid的yaml文件

arm:# 你的机器人名称
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  joint1_position_controller:
    type: position_controllers/JointPositionController
    joint: joint1
    # pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: position_controllers/JointPositionController
    joint: joint2
    # pid: {p: 100.0, i: 0.01, d: 10.0}
  joint3_position_controller:
    type: position_controllers/JointPositionController
    joint: joint3
    # pid: {p: 100.0, i: 0.01, d: 10.0}
  joint4_position_controller:
    type: position_controllers/JointPositionController
    joint: joint4
    # pid: {p: 100.0, i: 0.01, d: 10.0}
  joint5_position_controller:
    type: position_controllers/JointPositionController
    joint: joint5
    # pid: {p: 100.0, i: 0.01, d: 10.0}
  joint6_position_controller:
    type: position_controllers/JointPositionController
    joint: joint6
    # pid: {p: 100.0, i: 0.01, d: 10.0}
  finger_joint1_position_controller:
    type: position_controllers/JointPositionController
    joint: finger_joint1
    
arm/gazebo_ros_control/pid_gains:
  joint1: {p: 100.0, i: 0.01, d: 10.0}
  joint2: {p: 100.0, i: 0.01, d: 10.0}
  joint3: {p: 100.0, i: 0.01, d: 10.0}
  joint4: {p: 100.0, i: 0.01, d: 10.0}
  joint5: {p: 100.0, i: 0.01, d: 10.0}
  joint6: {p: 100.0, i: 0.01, d: 10.0}
  finger_joint1: {p: 100.0, i: 0.01, d: 10.0}

无需将pid设置在每一段中，pid放到最后就可以。