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There are currently no controllers supporting explicitly parallel (delta) robots.

But what you can always do is to use ForwardCommandControllers (example), or even JointTrajectoryController to control the joints of the robot. If you want to do Cartesian control, then you will have to calculate forward kinematics on your own.

You can simply create an URDF without “closing” the kinematics and if you add ros2_control part there, everything should work fine.

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