Zero Velocity Command for Velocity controller

I’m working with UR5 right now. I’ve implemented the position controller and it works fine in Gazebo. When the velocity controller is used, it is difficult to maintain zero setpoint; therefore, the ur5 will fall down due the gravity. I’m wondering what is the right strategy to maintain fixed position in velocity controller? I’m using Gazebo 9 and melodic ros in ubuntu 18.04. The velocity controller I’m using is velocity_controllers/JointVelocityController. Please help.

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