Codesys Ros2 Portable Review
#include <ros2/ros2.hpp> #include <industrial_ros2/industrial_ros2.hpp>
The integration of CoDeSys with ROS 2 enables the use of CoDeSys controllers in ROS 2 environments, providing several benefits:
The industry is seeing a massive shift toward "SoftPLCs" running on Linux. CODESYS has fully embraced this with its runtime for Linux ARM and x64 systems. codesys ros2
CODESYS is a widely used industrial automation engineering environment for programming PLCs with IEC 61131-3 languages. ROS 2 (Robot Operating System 2) is the modern, distributed robotics middleware standard focused on real-time-capable communication, modularity, and cross-platform support. Combining CODESYS and ROS 2 lets industrial control systems interoperate with advanced robotic capabilities — useful for factory automation, mobile robots, AGVs, collaborative robots, and lab or research deployments.
While the integration of CODESYS and ROS 2 is powerful, it comes with its own set of challenges. Key implementation challenges include: #include <ros2/ros2
There isn't a single "official" driver, but several proven architectural patterns exist: ScalABLE40/robin: The ROS-CODESYS Bridge - GitHub
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. ROS 2 (Robot Operating System 2) is the
Integrating CODESYS and ROS 2 lets you combine robust industrial control with advanced robotics functionality. The right architecture depends on safety needs, timing constraints, and hardware capabilities — but common themes are clear separation of safety-critical PLC logic from ROS-based autonomy, robust bridging with heartbeats/watchdogs, and careful latency testing. Implement incrementally: begin with telemetry and monitoring, then add constrained command interfaces with strict fail-safes.
The integration of CoDeSys and ROS 2 can be applied to various industries and applications, including: