Rapid prototyping and systems where millisecond latency isn't the primary concern. 3. Shared Memory (For Single-Platform Systems)
Use CODESYS for safety-critical logic and motor torque loops while ROS2 handles high-level mission planning.
Managing two distinct build environments (CODESYS IDE and the Linux terminal/Colcon) increases the learning curve for traditional PLC engineers. Conclusion
Resource-constrained hardware where you want a native-ish ROS2 feel. 2. MQTT or OPC UA Bridges
If you are running on the same industrial PC as your ROS2 Humble or Iron distribution, shared memory is the fastest route.
Converting PLC data types (like REAL or INT ) into ROS2 messages ( sensor_msgs/LaserScan , etc.) requires careful serialization.
The CODESYS controller acts as a client that sends data to an agent running on a Linux-based gateway (or the same IPC).
Since CODESYS has excellent native support for and MQTT , you can use these as a "handshake" protocol.
Rapid prototyping and systems where millisecond latency isn't the primary concern. 3. Shared Memory (For Single-Platform Systems)
Use CODESYS for safety-critical logic and motor torque loops while ROS2 handles high-level mission planning.
Managing two distinct build environments (CODESYS IDE and the Linux terminal/Colcon) increases the learning curve for traditional PLC engineers. Conclusion codesys ros2
Resource-constrained hardware where you want a native-ish ROS2 feel. 2. MQTT or OPC UA Bridges
If you are running on the same industrial PC as your ROS2 Humble or Iron distribution, shared memory is the fastest route. Managing two distinct build environments (CODESYS IDE and
Converting PLC data types (like REAL or INT ) into ROS2 messages ( sensor_msgs/LaserScan , etc.) requires careful serialization.
The CODESYS controller acts as a client that sends data to an agent running on a Linux-based gateway (or the same IPC). MQTT or OPC UA Bridges If you are
Since CODESYS has excellent native support for and MQTT , you can use these as a "handshake" protocol.