Delta Robot ROS 2 Project

This repository contains the ROS 2 packages for controlling and simulating a 5-DOF Delta Robot. The project supports both Gazebo simulation and real hardware control via a serial bridge.

Getting Started

Prerequisites

• ROS 2 (Humble or later recommended)
• Gazebo Sim (Ignition)
• gz_ros2_control
• Python 3 with pyserial

Installation & Build

# Clone the repository into your workspace src
cd ~/major_project_ws/src
git clone https://github.com/RikisuT/Delta-Robot.git .

# Build the workspace
cd ~/major_project_ws
colcon build --symlink-install

# Source the workspace
source install/setup.bash

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Running the Robot

To operate the Delta Robot, follow these steps in order:

Step 1: Launch the Backend

Choose either the simulation environment or the real hardware bridge:

Option A: Simulation (Gazebo)

ros2 launch delta_robot_sim delta_robot_spawn.launch.py

Option B: Real Hardware

# Grant permissions to the serial port
sudo chmod 666 /dev/ttyACM0

# Run the motor control node
ros2 run delta_hardware_bridge motor_control_node

Step 2: Start the 5-DOF Controller

This node handles the inverse kinematics and translates Cartesian coordinates into motor joint commands.

ros2 run delta_controllers 5dof_controller_node

Step 3: Start the Control GUI

Launch the PyQt5 interface to send manual slider commands, run automated tasks, or execute G-code.

ros2 launch delta_robot_gui delta_robot_gui.launch.py

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Project Structure

• delta_robot_description: URDF/SDF models and meshes.
• delta_robot_sim: Gazebo world and spawn configurations.
• delta_controllers: Kinematics and motion control logic.
• delta_hardware_bridge: Serial communication with physical motors (IDs 1-5).
• delta_robot_gui: PyQt5 interface for manual and task control.
• delta_tasks: G-code parsing and task sequencing.

Hardware Specifications

This robot uses Serial Bus Servos (ST-series), not PWM. Commands are sent as serial data packets.

Motor ID Mapping

• ID 1, 2, 3: Feetech ST3215-HS (Bicep/Arm Servos)
• ID 4, 5: Feetech STS3032 (End-Effector Differential Servos)

GitHub Repository: https://github.com/RikisuT/Delta-Robot

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License Detail

See the LICENSE file for the full text of the GNU General Public License v3.0.

Contributing & Feedback

If you have suggestions, find bugs, or want to contribute to the development of the Delta Robot project, please open an Issue or submit a Pull Request.

Authors & Contributors

• Likhithraj T Acharya
• Rajat Pandya
• Kshma Pai
• Vaibhav Kulal

For detailed roles, project history, and licensing conditions, see CONTRIBUTORS.md.

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