: You install the library, add it to your project, and import the example PLCopenXML project to get started. 2. OPC UA (Open Platform Communications)
You must create a standard package that handles the "outside" communication. Create Package ros2 pkg create --build-type ament_python Write Publisher/Subscriber
Integrating CODESYS—the leading hardware-independent IEC 61131-3 development software—with ROS2 provides a powerful solution to this challenge. This article explores the architecture, benefits, communication strategies, and step-by-step implementation of a CODESYS-ROS2 ecosystem. Understanding the Components What is CODESYS?
: CODESYS features a built-in, highly optimized OPC UA server. codesys ros2
// 1. Configure Client MqttClient.sHostName := sBrokerIp; MqttClient.uiPort := uiPort; MqttClient.xConnect := bConnect;
To understand the value of this integration, it is essential to look at what makes each platform unique—and why they are fundamentally complementary. The Strengths of CODESYS
On one side, we have , the gold standard for industrial programmable logic controllers (PLCs). It is reliable, deterministic, and governed by strict IEC 61131-3 standards. It is the language of the factory floor—handling sensors, actuators, and safety logic with millisecond precision. : You install the library, add it to
: AMRs navigate the warehouse floor using ROS2 Nav2. When the AMR arrives at a loading dock, it links with a CODESYS-controlled conveyor system to coordinate the safe, automated transfer of heavy freight.
We propose a layered architecture consisting of three logical planes:
The integration of CoDeSys and ROS 2 enables developers to leverage the strengths of both technologies. By combining CoDeSys's industrial automation expertise with ROS 2's flexibility and scalability, developers can create sophisticated automation applications that benefit from: : CODESYS features a built-in, highly optimized OPC
The combination of offers the ultimate hybrid automation stack. CODESYS guarantees industrial-grade safety, deterministic real-time motion control, and extensive fieldbus compatibility (EtherCAT, Profinet, EtherNet/IP). Meanwhile, ROS2 infuses the system with advanced perception, modular robotics algorithms, and open-source flexibility. Mastering this interface allows control engineers and roboticists to build highly adaptive, intelligent factory systems ready for the demands of Next-Generation manufacturing.
Because ROS2 uses DDS for communication, the most seamless architectural approach is bringing DDS directly to the PLC. Micro-ROS allows resource-constrained microcontrollers and real-time operating systems to run optimized ROS2 nodes natively. Alternatively, third-party libraries allow CODESYS to communicate via raw UDP packets structured to match DDS topics.