This repository provides all of the mid-level software needed to run the Delta XS robot arm with ROS2.

The stack is set up as a ROS metapackage, which organizes our codebase into the following packages:

• deltax_descriptions
  • URDF, meshes, etc.
• deltax_driver
  • Lower-level code for communicating with hardware (ie motor drivers) and providing a ROS interface to them

Installation

• Tested on Ubuntu 22.04 LTS and ROS Iron

• Go to src of your workspace:

  cd ~/<your_ws>/src 

• Clone the code:

  git clone https://github.com/zacharyyamaoka/deltax_core

• Install dependencies:

  cd ~/<your_ws>
  rosdep install --from-paths src --ignore-src -r -y

• Build (symlink-install is optional):

  colcon build --symlink-install

• Source:

  source ~/<your_ws>/install/setup.bash

Use Cases

Assumes you are in a sourced workspace

View Arm

  ros2 launch deltax_descriptions display.launch.py

References

https://docs.deltaxrobot.com/reference/gcodes/useful_commands/ for useful commands

https://docs.deltaxrobot.com/reference/gcodes/gc_xs_v5/ for gcode reference

Code based on:

https://github.com/VanThanBK/deltax_ros_public https://github.com/VanThanBK/python-deltax/tree/master https://github.com/deltaxrobot/deltax_pick_place_script

From: https://github.com/VanThanBK/Delta-X-Firmware/blob/master/Delta_Firmware/Geometry.h