Codesys Ros2 //top\\ -
What (such as UDP, OPC UA, or MQTT) do you prefer for the bridge? Share public link
+-------------------------------------------------------+ | Industrial PC (IPC) | | | | +---------------------+ +---------------------+ | | | CODESYS RTL | | ROS2 Node | | | | (Deterministic) | | (Asynchronous) | | | +----------+----------+ +----------+----------+ | | | | | | +------------+--------------+ | | | | | [Bridge Layer: Shared Memory / DDS / MQTT] | +-------------------------------------------------------+ 1. The Native DDS Approach (Data Distribution Service)
Utilize DDS security settings in ROS 2 to ensure secure data exchange between the robot controller and the industrial PLC. Conclusion
A shared memory area allows the PLC and ROS 2 to share a memory region at high speed. Advantage: Minimal latency for tight control loops. codesys ros2
There are several ways to bridge the gap between CODESYS (PLC) and ROS 2 (Linux/ROS node). 1. Shared Memory (Fast & Deterministic)
| Application Area | Description | | :--- | :--- | | | Precise control of robotic arms for pick-and-place, assembly, welding, and painting. ROS 2 handles path planning and vision, while CODESYS manages the real-time joint control. | | Autonomous Mobile Robots (AMRs) | Combined navigation and manipulation systems, where ROS 2 provides SLAM and autonomy, and CODESYS handles wheel motor drives, safety interlocks, and battery management. | | Digital Twins | Creation of virtual replicas of physical systems for simulation, monitoring, and predictive maintenance, using the Gazebo-ROS 2 pipeline to simulate and visualize the behavior of the CODESYS-controlled machine. | | Smart Manufacturing | Fully integrated production cells where every component communicates seamlessly, using the combined strength of ROS 2 and CODESYS to orchestrate complex workflows. |
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The convergence of traditional industrial automation and modern robotics is reshaping manufacturing, logistics, and countless other sectors. At the forefront of this integration are two powerful platforms: , the leading IEC 61131-3 development environment for programmable logic controllers (PLCs), and ROS 2 (Robot Operating System 2) , the open‑source framework that has become the de facto standard for robotics research and development. Bringing these two worlds together unlocks a new level of capability, where the deterministic, real‑time control of a PLC meets the flexibility and intelligence of ROS 2. This article provides a comprehensive guide to CODESYS‑ROS2 integration, exploring why it matters, how it works, and the tools that make it possible.
What are you using for your CODESYS runtime?
"op": "publish", "topic": "/cmd_vel", "msg": "linear": "x": 0.1, "angular": "z": 0.2 Conclusion A shared memory area allows the PLC
Industrial PLCs like those using CODESYS are designed for 24/7 operation in harsh environments, providing better reliability than typical robot controllers.
ROS2 manages navigation, mapping, and SLAM, while CODESYS handles wheel encoders, motor drives, and safety sensors via EtherCAT.
The ROBIN project (Focused Technical Project by ROSIN) provides a standard for this integration, primarily designed to map CODESYS variables to ROS topics.