To understand the power of this combination, consider the distinct strengths each ecosystem brings to an industrial environment:
Success bred ambition. They taught ROS 2 to understand recipes: sequences that required sub-millimeter placement and human-safe approaches. ROS 2 planned a trajectory; CODESYS executed the motor profiles with hard real-time precision. For complex inspection runs, drones fed point clouds into ROS 2, which framed possible repairs and dispatched the nearest mobile platform. CODESYS ensured every actuator stayed inside certified constraints; ROS 2 negotiated exception cases and re-planned on the fly. Together, they became more resilient than either could be alone. codesys ros2
Integrating a non-real-time (or soft real-time) ROS 2 system running on Linux with a hard real-time CODESYS runtime requires a reliable communication bridge. Three primary patterns dominate the industry: 1. DDS (Data Distribution Service) Native Communication To understand the power of this combination, consider
When both CODESYS and ROS2 reside on the same Linux IPC with PREEMPT_RT , shared memory is the lowest-latency option. A custom C++ wrapper or a CODESYS runtime extension maps a specific block of RAM. The PLC reads/writes to this block deterministically, while a ROS2 node acts as the asynchronous gateway to the broader robot network. Step-by-Step Implementation Strategy For complex inspection runs, drones fed point clouds