((full)) | Codesys Ros2

: PLCs excel at real-time, deterministic control. They manage microsecond-level I/O loops, execute safety functions, and communicate via robust industrial protocols like EtherCAT, PROFINET, and EtherNet/IP. However, they lack the computational flexibility needed for complex tasks like autonomous navigation, dynamic path planning, or machine learning.

Bridging Industrial Automation and Robotics: The Ultimate Guide to CODESYS and ROS2 Integration

– The authors thank the CODESYS community and ROS-Industrial consortium for feedback. codesys ros2

To continue advancing your implementation, consider exploring the following steps:

There are three primary methods to establish communication between a CODESYS runtime and a ROS2 node network. The right choice depends on your latency requirements and hardware constraints. 1. The Native DDS Approach (Lowest Latency) : PLCs excel at real-time, deterministic control

Another approach is to use WebSockets to connect a CODESYS client to a ROS Bridge Server. The ROS bridge allows a CODESYS program to directly publish and subscribe to ROS 2 topics by sending specially formatted JSON messages over the WebSocket connection. For example, to publish velocity commands, the CODESYS client would first subscribe to a topic, then send a message structured like: "op":"call_service","id":"call_service:/rosapi/topic_type:1","type":"rosapi/TopicType","args":"topic":"/cmd_vel" .

// Shutdown ROS 2 rclcpp::shutdown();

It natively supports industrial fieldbuses like EtherCAT, PROFINET, and EtherNet/IP to control motors, pneumatics, and I/O.

ROS2 relies on Data Distribution Service (DDS) as its underlying middleware for real-time data exchange. Direct integration is non-trivial:

Direct integration is non-trivial: