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Introduction to CoDeSys and ROS 2

CoDeSys (Controller Development System) is a software tool for programming and configuring industrial controllers. ROS 2 (Robot Operating System 2) is an open-source software framework for building robot applications. In this post, we'll explore the integration of CoDeSys with ROS 2, enabling the use of CoDeSys controllers in ROS 2 environments.

No standard solution exists for bidirectional, low-latency communication between a CODESYS PLC and a ROS2 system.

Safety and Real-Time Control: Running mission-critical logic in the CODESYS real-time environment while ROS 2 provides external intelligence. codesys ros2

How data flows:

This allows for sub-millisecond communication between the motion planner (ROS) and the motor controller (PLC). 🏗️ Implementation Workflow Introduction to CoDeSys and ROS 2 CoDeSys (Controller

The goal of the integration is simple: Let CODESYS handle the hardware safety and real-time control, while ROS2 handles the intelligence and navigation.

Using the CODESYS Communication Lib, you can link a PLC project to a robot simulated in Gazebo or NVIDIA Isaac Sim. This allows for "Software-in-the-Loop" (SiL) testing before the physical hardware is even built. Challenges to Consider 🏗️ Implementation Workflow The goal of the integration

(Robot Operating System 2) bridges the gap between high-level robotic intelligence and low-level industrial control. This combination allows you to use ROS 2 for path planning or AI, while CODESYS handles real-time safety, motor control, and factory-floor protocols like EtherCAT or PROFINET. 🛠️ Methods to Connect CODESYS and ROS 2

For automation engineers, learning how to interface their PLCs with ROS2 is no longer a niche skill—it is becoming a requirement for building the next generation of intelligent machinery. As the tools for bridging these environments improve, the line between the "Industrial Controller" and the "Robot Brain" will continue to blur.