To understand the value of this hybrid architecture, it is essential to look at what each platform does best.
This article explores how integrating CODESYS with ROS 2 bridges the gap between deterministic machine control and intelligent robotics. It highlights architectural approaches, communication protocols, and industrial use cases. The Technology Gap: Why CODESYS and ROS 2 Need Each Other
Historically, industrial automation and advanced software robotics existed in separate silos. PLCs excelled at rugged, predictable execution but lacked the capability to process complex 3D point clouds, execute dynamic path planning, or run machine learning models. Conversely, ROS 2 excelled at high-level robotics but lacked native, deterministic drivers for diverse industrial hardware protocols like EtherCAT, PROFINET, and EtherNet/IP.
ROS 2 (Robot Operating System 2) is an open-source software framework for building robot applications. It provides a flexible and modular architecture for developing complex robot behaviors, allowing developers to focus on high-level tasks rather than low-level details. ROS 2 is designed to be highly scalable, secure, and reliable, making it suitable for a broad range of applications, from robotics and autonomous systems to industrial automation and IoT. codesys ros2
Traditionally, industrial automation and robotics operated in separate silos. Bridging them allows developers to leverage the best of both worlds:
There are several ways to bridge the gap between CODESYS (PLC) and ROS 2 (Linux/ROS node). 1. Shared Memory (Fast & Deterministic)
CODESYS allows easy integration of EtherCAT/CANopen devices, which ROS2 can manage through a bridge. To understand the value of this hybrid architecture,
Integrating with ROS 2 bridges the gap between high-reliability industrial automation (PLCs) and advanced robotic software. While CODESYS manages deterministic real-time tasks like motor control and safety, ROS 2 provides high-level capabilities like SLAM, AI, and path planning. Integration Strategies
Which (like EtherCAT or PROFINET) are your motor drives using?
Deploy a real-time capable operating system. Ubuntu LTS configured with the PREEMPT_RT patch is the industry standard. Install the ROS2 distribution (such as Jazzy Jalisco or Humble Hawksbill) alongside the CODESYS Control for Linux SL runtime. Step 2: Define the Interface Contract Determine exactly what data needs to cross the boundary. The Technology Gap: Why CODESYS and ROS 2
Your ROS 2 stack processes LiDAR data and calculates the required robot trajectory. It outputs geometry messages, typically via the /cmd_vel (command velocity) topic. This topic sends linear velocity ( ) and angular velocity ( ) commands.
Your (e.g., Raspberry Pi, industrial IPC, dedicated PLC)
This node reads/writes data from shared memory and publishes/subscribes to ROS2 topics.
Integrating (an industrial PLC programming environment) with