Codesys Ros2 | Best
, combining the deterministic real-time execution of PLCs with the advanced processing, perception, and navigation capabilities of the Robot Operating System.
The integration of CODESYS and ROS2 is a pivotal step toward Industry 4.0. It bridges the gap between the reliable, deterministic world of factory automation and the flexible, intelligent world of modern robotics, offering a comprehensive solution for advanced automation challenges. Share public link
Download the project to your controller (e.g., a Raspberry Pi running CODESYS or an industrial PC). Step 2: Set Up the ROS2 Workspace
If CODESYS and ROS 2 are running on the exact same hardware—such as an Industrial PC (IPC) utilizing a real-time Linux kernel (PREEMPT_RT)—they can communicate via Shared Memory or Inter-Process Communication (IPC). A dedicated ROS 2 node writes velocity commands to shared memory, which the CODESYS runtime reads deterministically to drive the motors. Step-by-Step Implementation Guide
In Industry 4.0, production lines must reconfigure on the fly. ROS 2 can act as the fleet orchestrator or high-level cell manager, communicating via a standardized interface with multiple independent CODESYS-driven machines to dynamically coordinate tasks without hard-wiring I/O between them. Overcoming Challenges in Integration codesys ros2
The ROS2 Nav2 stack calculates a velocity command ( Twist message). It publishes this to a topic /cmd_vel . Through a DDS bridge or Gateway, this data arrives in the CODESYS controller as a structure containing linear and angular velocities. The CODESYS logic then checks if the velocity is within safe limits, applies ramping (smooth acceleration), and sends the command to the motor drives.
Requires specialized CODESYS libraries or runtime extensions that support DDS/RTPS protocols, which may increase licensing costs or complexity. 3. Modbus TCP / TCP/IP Sockets (Legacy & Lightweight)
The convergence of industrial automation and advanced robotics is reshaping the manufacturing landscape. Historically, industrial automation relied on Programmable Logic Controllers (PLCs) executing deterministic, rigid logic via languages like IEC 61131-3. In contrast, advanced robotics evolved around the Robot Operating System (ROS and now ROS 2), an open-source framework designed for complex, non-deterministic tasks like computer vision, motion planning, and autonomous navigation.
By combining CODESYS and ROS 2, developers can create systems where ROS 2 acts as the strategic "brain" for high-level decision-making, while CODESYS serves as the tactical "spinal cord" for low-level, real-time actuation and sensor acquisition. A common and effective architecture is to let CODESYS handle the industrial hardware layer and ROS 2 focus on higher-level motion planning and control. This article provides a comprehensive guide to the methods, tools, and best practices for achieving this powerful synergy. , combining the deterministic real-time execution of PLCs
Runs navigation algorithms (SLAM) to determine the best path, running on a ROS-enabled computer.
Using advanced integration methods, such as the CODESYS Communication Packages or containerized microservices, the PLC runtime directly participates in the DDS global data space.
The first step is to ensure that both the CODESYS and ROS 2 environments are properly installed and configured. On the ROS 2 side, this means having a functional installation and setting up the workspace. It is also crucial to ensure both systems are on the same network or device. For a unified development environment, ROS 2 and CODESYS can be run on the same industrial PC (IPC).
The core challenge of a CODESYS-ROS2 integration is bridge communication. Because the platforms utilize different data structures and network protocols, engineers typically choose one of three architectural approaches: Share public link Download the project to your
OPC UA is the gold standard for industrial interoperability. Most modern CODESYS runtimes include a built-in OPC UA server. On the robotics side, developers can use Python or C++ libraries ( opcua-asyncio or open62541 ) inside a ROS2 node to act as an OPC UA client.
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Some advanced industrial controllers running CODESYS on Linux (like Raspberry Pi with CODESYS Control or industrial edge PCs) allow for custom C++ libraries or specific DDS implementations. This allows the PLC to publish ROS2 topics directly (e.g., /joint_states or /cmd_vel ) without a translation layer.
