Known Issues

This document details the potential issues that may arise while using the panda_gazebo package. These problems are primarily due to bugs in the upstream franka_ros package, which is utilized by the panda_gazebo package to simulate the Panda robot. For the most recent updates and solutions, we suggest visiting the issues page on the GitHub repository.

Gravity Compensation Bug

  • Issue: Gravity compensation is not working properly when the robot is effort-controlled.

  • Reference: #39

Due to an upstream bug in the 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:

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

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

Due to incorrectly tuned PID gains in the franka_gazebo package, the gripper may not function properly when it is oriented vertically to the ground.