Codesys: Ros2

For simple applications or constrained hardware, standard network sockets remain an option.

3. Implementing the CODESYS ROS2 Bridge: A Step-by-Step Overview

Combining these two systems creates a powerful architecture where:

By effectively distributing the workload—having CODESYS manage the deterministic, low-level hardware and ROS 2 handle the complex, high-level intelligence—you can build a more reliable, powerful, and efficient robotic system. codesys ros2

CODESYS GmbH (now part of Schneider Electric) provides a dedicated for CODESYS. This library introduces special function blocks that act as DDS (Data Distribution Service) publishers and subscribers—directly from IEC 61131-3 code.

#include <ros2/ros2.hpp> #include <industrial_ros2/industrial_ros2.hpp>

Lightweight, supported by virtually every CODESYS-compatible controller out of the box, zero software cost. CODESYS GmbH (now part of Schneider Electric) provides

CODESYS data types are mapped to ROS2 messages as follows:

Following these best practices can help avoid common pitfalls and build a robust system:

In a traditional setup, your Linux-based ROS computer handles Lidar and Camera data, then sends simple velocity commands (e.g., cmd_vel ) to a separate PLC via Ethernet/IP or Modbus. This introduces latency. CODESYS data types are mapped to ROS2 messages

CODESYS ROS 2 allows industrial machine builders to finally adopt the rapid development cycle of the ROS ecosystem without sacrificing the deterministic control and safety features of a PLC.

Integrating CODESYS and ROS 2: The Future of Industrial Automation and Robotics

Appendix A: CODESYS library architecture diagram Appendix B: ROS2 message definition for PLC status Appendix C: Benchmark raw data tables