Codesys Ros2

Despite the variety of integration methods, a generalized procedure can be applied to most approaches. This walkthrough provides a high-level roadmap for connecting CODESYS and ROS 2.

1. OPC UA (Open Platform Communications Unified Architecture)

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Some advanced implementations involve integrating a DDS client directly within the CODESYS environment, allowing the PLC to appear as a native participant in the ROS 2 network. 3. Key Use Cases

Select the variables you want to expose to ROS2 (e.g., lrTargetPosition , lrActualVelocity , xEmergencyStop ). Despite the variety of integration methods, a generalized

Appendix A: CODESYS library architecture diagram Appendix B: ROS2 message definition for PLC status Appendix C: Benchmark raw data tables

| Pattern | Direction | Real-time req. | Suggested QoS | |---------|-----------|----------------|----------------| | Sensor streaming | PLC → ROS2 | <5ms latency | BEST_EFFORT, VOLATILE | | Command/control | ROS2 → PLC | Deterministic (<1ms jitter) | RELIABLE, TRANSIENT_LOCAL | | Parameter sync | Bidirectional | >100ms | RELIABLE, PERSISTENT | | Emergency stop | ROS2 → PLC | Priority interrupt | RELIABLE, Deadline 1ms | Can’t copy the link right now

Create a Global Variable List (GVL) that will act as the data interface (e.g., RobotJoints , TargetPose ).

If you are looking to start, I can help you for specific robotics platforms, or provide examples of C++ ROS nodes that use the asyncua library to talk to CODESYS via OPC UA. Share public link