Higher latency and overhead; not ideal for high-frequency motion synchronization. 3. Shared Memory / IPC (On IPC Architecture)
Ensure the OPC UA server is enabled in the PLC communication settings. Step 2: Create the ROS2 Bridge Node
The first test was simple: let a ROS 2 node tell a conveyor to pause if a vision node detected a misaligned board. CODESYS, always wary, demanded unequivocal safety: a hardware interlock and a watchdog that would seize control if messages failed. They implemented a heartbeat over DDS, wrapped it in a CODESYS library, and made the conveyor a cautious partner: it would accept ROS 2 commands only while the heartbeat remained steady. The result was poetry—the vision node shouted “misaligned” and the PLC’s ladder logic honored the command, the belt stilled, and a red LED blinked like a heartbeat finding a rhythm.
Handles the wheel encoders, motor drives, safety scanners, and battery management. codesys ros2
Integrating CODESYS with ROS2 allows engineers to combine high-level AI/robotics with low-level determinism.
, the de facto standard for flexible robotics middleware, allows systems to combine robust industrial hardware control with advanced robotic motion planning. 1. Executive Summary
CODESYS and ROS 2 each excel in their respective domains—deterministic control and intelligent robotics. Their integration is not just possible; it is a powerful strategy for building modern, flexible automation systems. Whether you choose a lightweight WebSocket bridge for prototyping, a robust OPC UA interface for IT‑compatible systems, or a high‑performance shared memory bridge like ROBIN for real‑time motion control, the tools are available and ready for industrial use. Higher latency and overhead; not ideal for high-frequency
Higher overhead than raw UDP/TCP; not ideal for ultra-high-speed real-time loops loop closure (e.g., < 10ms control loops). 2. Micro-ROS and Native DDS
Eliminates the middleman translator; ROS2 treats the CODESYS PLC as just another native node.
1. OPC UA (Open Platform Communications Unified Architecture) Step 2: Create the ROS2 Bridge Node The
The key to coupling these systems lies in mapping CODESYS variables to ROS2 topics, services, or actions. The primary mechanism for this is , which is the native middleware for ROS2. A. The CODESYS DDS Solution (Native)
: Requires mapping overhead; performance depends on the OPC UA server implementation.
Connecting these two systems typically involves a gateway that allows them to "speak" to one another:
Build a custom ROS 2 node (typically in C++ or Python) that acts as the counterpart, connecting the shared memory or OPC UA interface to ROS topics.