Codesys Ros2 Link

Which (like EtherCAT or PROFINET) are your motor drives using?

The CODESYS and ROS 2 hybrid architecture is unlocking new capabilities across several modern sectors: Autonomous Mobile Robots (AMRs) & AGVs

The world of industrial automation is undergoing a significant transformation. The increasing demand for flexibility, scalability, and interoperability has led to the development of innovative solutions that combine traditional industrial control systems with modern software frameworks. One such combination that has gained significant attention in recent years is CoDeSys and ROS 2. 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.

For applications that demand high‑speed, low‑latency communication—such as joint‑level control at 200 Hz or higher—a shared memory bridge is the most performant option. Both the CODESYS runtime and ROS 2 nodes run on the same computer (e.g., an industrial PC with a real‑time operating system). A dedicated bridge process maps a region of shared memory, which both sides can read and write without copying data or incurring network overhead. Which (like EtherCAT or PROFINET) are your motor

Integrating with ROS2 bridges the gap between high-level robotic decision-making and robust industrial real-time control. While ROS2 excels at perception and complex path planning, CODESYS provides the deterministic communication needed for industrial hardware. Bridging the Industrial Gap

In the Library Manager, add the CODESYS DDS library. One such combination that has gained significant attention

Advanced kinematics and collision avoidance using frameworks like MoveIt 2.

This separation of concerns leads to a more robust, maintainable, and efficient system.

One of the most debated aspects of CODESYS‑ROS2 integration is real‑time performance. CODESYS runtimes are inherently real‑time: they can execute IEC 61131‑3 programs with deterministic cycle times as low as 125 µs, and they interface with fieldbuses like EtherCAT at rates up to 4 kHz. ROS 2 was designed with real‑time in mind (unlike ROS 1), but achieving deterministic, low‑latency communication still requires careful design.

We will implement a model using MQTT.