ROS 2 Configuration for Delta Robot Arm Kinematic Motion and Stereo Camera Visualization

The Delta robot is one of the types that used in agriculture and industrial application. However, before complex physical development robot, a simulation needs to be developed ensure perfect functionality design. Therefore, this paper presented for parallel delta using Robot Operating System 2 (ROS 2) environment stereo camera visualization. contribution research present details proposed solution solve issues encountered during development. script format eXtensible Markup Language (XML), Unified Description Format (URDF), Simulation (SDF) are describing robot's structure, allowing robotic system depicted tree defining arm, which made up closed-loop kinematic chain linkage will simulated Gazebo. For results, several Gazebo plugin libraries compared tested wheels motion control, visualization, arm motion. From experiment, best method inverse selected simulation. resulted an average percentage error 3.92%, 3.72%, 2.92%, respectively each joint.