Codesys Ros2 Jun 2026
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Choosing the right method for a given project depends on several factors, including real-time requirements, the complexity of the data exchange, and the available development resources. Several distinct pathways have been developed to connect ROS 2 and CODESYS, each with its own trade-offs. The main approaches can be broadly categorized as shown in the table below.
As hardware becomes more powerful, the lines between PLC and PC are blurring. Edge controllers can now run an industrial Linux kernel capable of hosting a deterministic CODESYS runtime in one container and a ROS2 environment in another—all on the same physical chip.
The integration of CoDeSys and ROS 2 offers a powerful combination of industrial automation expertise and robotics flexibility. By leveraging the strengths of both technologies, developers can create sophisticated automation applications that benefit from high-performance control, scalability, and flexibility. As the industrial automation and robotics industries continue to evolve, the integration of CoDeSys and ROS 2 is poised to play a key role in shaping the future of automation and robotics development.
To fully leverage the CODESYS-ROS 2 integration, understanding its advanced motion control and simulation capabilities is essential. CODESYS excels at managing complex motion that can be seamlessly commanded by an ROS 2 system.
Today, combining CODESYS (the leading IEC 61131-3 PLC development platform) with ROS 2 is becoming the standard architecture for complex, modern automation systems. This integration allows engineers to bridge the gap between deterministic machine control and cutting-edge robotic perception. Why Combine CODESYS and ROS 2?
| Pattern | Direction | Real-time req. | Suggested QoS | |---------|-----------|----------------|----------------| | Sensor streaming | PLC → ROS2 | <5ms latency | BEST_EFFORT, VOLATILE | | Command/control | ROS2 → PLC | Deterministic (<1ms jitter) | RELIABLE, TRANSIENT_LOCAL | | Parameter sync | Bidirectional | >100ms | RELIABLE, PERSISTENT | | Emergency stop | ROS2 → PLC | Priority interrupt | RELIABLE, Deadline 1ms |
FUNCTION_BLOCK FB_ROS2_Publisher VAR_INPUT execute : BOOL; topic_name : STRING(64); qos_depth : INT := 10; data : VARIANT; // Points to PLC memory END_VAR VAR_OUTPUT busy : BOOL; error : BOOL; error_id : DWORD; END_VAR
manages high-level logic, SLAM, and visualization through its distributed node system. Popular Integration Methods
Industrial PLCs like those using CODESYS are designed for 24/7 operation in harsh environments, providing better reliability than typical robot controllers.
Build the project and download it to your PLC runtime (e.g., CODESYS Control for Raspberry Pi or an industrial IPC).
The integration of (a widely-used IEC 61131-3 soft PLC platform) and ROS2 (Robot Operating System 2) represents a powerful shift in industrial automation, bridging the gap between traditional deterministic PLC control and modern, intelligent robotics .
The fourth industrial revolution (Industry 4.0) demands that traditional PLC-based automation systems interact seamlessly with autonomous robotic systems. While PLCs offer deterministic microsecond-level control for actuators and sensors, robotic systems require advanced functionalities such as SLAM, path planning, and multi-agent coordination—domains where ROS2 has become the de facto standard.
ROS 2 provides packages like Nav2 for complex path planning, obstacle avoidance, and SLAM (Simultaneous Localization and Mapping).
