docs: add known issues to docs

This commit adds the known issue to the documentation and updates the bug issue template.
rickstaa · Dec 13, 2023 · 35c77f8 · 35c77f8
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -36,8 +36,7 @@ body:
  description: "Please complete the following information."
  value: |
  - OS: [e.g. Windows, Mac, Linux, iOS, android]
- - Browser [e.g. chrome, safari, brave, firefox]
- - Version [e.g. 22]
+ - Panda gazebo version: [e.g. v2.15.4]
  - type: textarea
  attributes:
  label: Additional context

diff --git a/panda_gazebo/docs/source/get_started/issues.rst b/panda_gazebo/docs/source/get_started/issues.rst
@@ -0,0 +1,41 @@
+============
+Known Issues
+============
+
+This document outlines the known issues with the :panda-gazebo:`panda_gazebo <>` package you 
+may encounter while using. We recommend checking :panda-gazebo:`the issues page <issues>` on the
+:panda-gazebo:`GitHub repository <>` for updates.
+
+Gravity Compensation Bug
+-------------------------
+
+- **Issue**: Gravity compensation is not working properly when the robot is effort-controlled.
+- **Reference**: `#39 <https:/rickstaa/panda-gazebo/issues/39>`_
+
+Due to an upstream bug in the :panda-gazebo:`franka_gazebo <>` package, the gravity compensation feature may not function as expected. 
+This issue can be mitigated by switching the physics engine from `ODE`_ to `DART`_ using the ``physics`` argument in the ``simulation.launch`` file:
+
+.. code-block:: bash
+
+ roslaunch panda_gazebo simulation.launch physics:=Dart
+
+Simulation Crashes with DART Physics
+--------------------------------------
+
+- **Issue**: The simulation sometimes crashes when the `DART`_ physics engine is used and the gripper is controlled.
+- **Reference**: `#196 <https:/rickstaa/panda-gazebo/issues/196>`_
+
+Users may experience occasional simulation crashes when using the `DART`_ physics engine and controlling the gripper. We
+recommend switching to the `ODE`_ physics engine when using the gripper.
+
+Gripper Problems when Vertical
+------------------------------
+
+- **Issue**: The gripper is not working properly when being vertical to the ground.
+- **Reference**: `#33 <https:/rickstaa/panda-gazebo/issues/33>`_
+
+Due to incorrectly tuned PID gains in the :panda-gazebo:`franka_gazebo <>` package, the gripper may not function properly when it is oriented
+vertically to the ground.
+
+.. _ODE: http://www.ode.org/
+.. _DART: https://dartsim.github.io/
diff --git a/panda_gazebo/docs/source/get_started/usage.rst b/panda_gazebo/docs/source/get_started/usage.rst
@@ -20,7 +20,7 @@ modes that can be selected using the ``control_mode`` argument:
 
  - ``trajectory``: The robot is controlled using joint position trajectories.
  - ``position``: The robot is controlled using joint position commands.
- - ``effort``: The robot is controlled using joint effort commands.
+ - ``effort``: The robot is controlled using joint effort commands. 
 
 .. Note::
 
@@ -53,3 +53,6 @@ of the Panda robot, you can use the following ``roslaunch`` command:
 .. code-block:: bash
 
  roslaunch panda_gazebo start_simulation.launch
+
+
+The note you've provided is clear and informative, but you can improve it further by organizing the information more effectively and making it easier to read. Here's a revised version:
diff --git a/panda_gazebo/docs/source/index.rst b/panda_gazebo/docs/source/index.rst
@@ -63,6 +63,7 @@ Contents
 
  get_started/install.rst
  get_started/usage.rst
+ get_started/issues.rst
 
 .. toctree::
  :maxdepth: 2