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

For years, there has been a quiet war in the automation world: vs. the flexible, modular world of robotics (ROS 2).

FUNCTION_BLOCK FB_ROS2_Publisher VAR_INPUT execute : BOOL; topic_name : STRING(64); qos_depth : INT := 10; data : VARIANT; // Points to PLC memory END_VAR VAR_OUTPUT busy : BOOL; error : BOOL; error_id : DWORD; END_VAR

The most industrial method involves OPC UA (Open Platform Communications Unified Architecture). CODESYS has built-in OPC UA servers. ROS2 nodes can act as OPC UA clients to read and write variables directly to the PLC.

OPC UA is the industrial standard for data exchange and is highly supported by CODESYS. CODESYS side OPC UA Server directly on the PLC. ROS 2 side : Write a ROS 2 node that acts as an OPC UA client. library for Python nodes or for C++ nodes. 3. Shared Memory (Highest Speed)