Ur5e PID gainHow to adjust PID gains and acceleration in ROS2 with UR5e joint_trajectory_controller

Technical Questions
1

Hello,
I’m currently operating a UR5e robot using ROS2.
To explain my current setup: I’m using the joint_trajectory_controller provided in Universal Robots’ official ROS2 driver repository:
:backhand_index_pointing_right: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver

In the ROS1 version, I found that certain controllers used PID gains, as shown here:
:backhand_index_pointing_right: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/config/ur5e_controllers.yaml#L64

I’d like to know if there’s a similar way to modify and use PID gains in the ROS2 joint_trajectory_controller that I’m currently using.
Additionally, is there a way to reduce the acceleration either via the teaching pendant or the UR controller?

Thank you very much for your help.