Codesys Ros2 ((link)) -

Here’s a feature concept for bridging CODESYS (a leading IEC 61131-3 development environment for industrial controllers) with ROS 2 (Robot Operating System), aimed at simplifying hybrid robotics/automation projects.

This is the most performant method, typically used when the CODESYS SoftPLC (e.g., CODESYS Control for Linux ) and ROS2 run on the same hardware platform. codesys ros2

Conclusion: Do You Need CODESYS ROS 2 Integration?

Yes, if:

The Complete Guide: Bridge CODESYS and ROS 2

Introduction

Integrating CODESYS with ROS 2 allows you to use high-level robotics algorithms (Navigation, SLAM, Computer Vision) running in ROS 2 nodes while maintaining hard real-time control of motors and sensors using IEC 61131-3 logic in CODESYS. Here’s a feature concept for bridging CODESYS (a

  • PLC runs control loops, safety, and deterministic sequencing.
  • ROS 2 runs on a separate PC/edge device; exchange via network (DDS topics, services) or protocol gateways.
  • Use cases: machine control with robotic vision supervising tasks.
  1. Reliability: PLC code is inherently safer. The cyclic execution model is easier to validate for functional safety standards (like ISO 13849) than a multi-threaded C++ application.
  2. Abstraction: A robotics engineer shouldn't need to know how to configure the specific registers of a motor drive. They just want to tell the robot to move. CODESYS provides a hardware abstraction layer that standardizes the hardware for the ROS2 stack.
  3. Maintainability: Factory technicians know how to troubleshoot PLCs. They can connect to the CODESYS web visualization to diagnose a hardware fault without needing to dig through complex ROS launch files.
  • A PC running CODESYS IDE (Windows or Linux).
  • A PLC or SoftPLC (CODESYS Control Win V3) or Raspberry Pi with CODESYS Runtime.
  • ROS 2 installed (Humble or Iron recommended).
  • Network connection (Ethernet) between PC and PLC.

Part 4: Critical Considerations and Pitfalls

Integration works, but it is not plug-and-play. Here are expert lessons learned. PLC runs control loops, safety, and deterministic sequencing