Codesys - Ros2 Repack

Lightweight, incredibly fast, easy to implement for basic data exchange.

To understand the value of this integration, it is essential to look at what makes each platform unique—and why they are fundamentally complementary. The Strengths of CODESYS

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

The world of industrial automation is undergoing a significant transformation. The increasing demand for flexibility, scalability, and interoperability has led to the development of innovative solutions that combine traditional industrial control systems with modern software frameworks. One such combination that has gained significant attention in recent years is CoDeSys and ROS 2.

: Running on Real-Time Operating Systems (RTOS), CODESYS ensures tasks complete within microsecond limits, which is vital for high-speed motion control and safety circuits. Lightweight, incredibly fast, easy to implement for basic

| Feature | Handled by CODESYS (PLC side) | Handled by ROS 2 (Edge/PC side) | | :--- | :--- | :--- | | | Servo drives, hydraulic valves, temperature loops (<1ms) | High-level trajectory following (>10ms) | | Safety | Safety-rated PLC (ISO 13849) | Monitoring, but not SIL-rated logic | | I/O Handling | 24V digital, 4-20mA analog, EtherCAT slaves | Cameras, LiDARs, 3D sensors, microphones | | Algorithms | PID, motion control (CNC/Robotics) | SLAM, A*, MoveIt motion planning, YOLO vision | | Communication | Modbus TCP, Profinet, OPC UA | DDS (Fast-DDS, CycloneDDS), MQTT, WebSockets | | Deployment | Flash to non-volatile PLC memory | Docker containers, Kubernetes, snap packages |

We implemented a written in C++ (compiled as a CODESYS External Library) and exposed to IEC code via Function Blocks (FBs). The world of industrial automation is undergoing a

int main(int argc, char* argv[]) // Initialize ROS 2 rclcpp::init(argc, argv);

Under the hood, the bridge uses the , the mandatory middleware of ROS 2. This means zero custom serialization. The CODESYS runtime on Windows/Linux connects to the same DDS domain as the ROS 2 nodes.

For simpler applications, standard industrial protocols supported by both CODESYS and ROS 2 offer the easiest path.