Codesys Ros2 !!better!! Page

The worlds of industrial automation and advanced robotics have historically operated on separate planes. Industrial automation relies on Programmable Logic Controllers (PLCs) running deterministic, real-time operating systems to handle high-speed, safety-critical tasks. Conversely, advanced robotics relies on the Robot Operating System 2 (ROS2), a flexible, open-source framework favored by researchers and developers for complex tasks like computer vision, autonomous navigation, and machine learning.

We implemented a written in C++ (compiled as a CODESYS External Library) and exposed to IEC code via Function Blocks (FBs).

handles low-level hardware communication (like EtherCAT or CANopen) to ensure reliable, real-time machine safety and motion. codesys ros2

By effectively distributing the workload—having CODESYS manage the deterministic, low-level hardware and ROS 2 handle the complex, high-level intelligence—you can build a more reliable, powerful, and efficient robotic system.

ROS2 runs complex navigation algorithms (SLAM, LiDAR integration) to steer a vehicle through a warehouse, while a CODESYS controller drives the safety laser scanners, manages battery metrics, and actuates physical payload lifts. The worlds of industrial automation and advanced robotics

CODESYS Control Runtime follows a cyclic executive pattern:

Linux-based ROS 2 nodes (unless running on specialized Real-Time Linux patches like RT-PREEMPT) operate on a best-effort basis. Never allow a ROS 2 node to directly control a critical safety loop. Always design the CODESYS layer to automatically fault, stop safely, or enter a holding pattern if the ROS 2 heartbeat signal is lost. We implemented a written in C++ (compiled as

The integration of CoDeSys and ROS 2 represents a significant milestone in the evolution of industrial automation. By combining the strengths of CoDeSys in industrial control with the flexibility and modularity of ROS 2, developers can create powerful and scalable control applications that leverage the best of both worlds.

To understand why this integration is challenging, one must understand the fundamental difference in philosophy.

For more complex, high-performance needs, dedicated bridges are the best solution.

Create or use an existing library (such as the robin library) that acts as a "Robin function block" within your CODESYS project, mapping user-defined variables to the chosen bridge technology.