Your ROS 2 stack processes LiDAR data and calculates the required robot trajectory. It outputs geometry messages, typically via the /cmd_vel (command velocity) topic. This topic sends linear velocity ( ) and angular velocity ( ) commands.
In CODESYS, you set up a communication task to receive these velocity vectors. If using UDP, you can utilize the SysSocket or CAA Ethernet libraries to open a listening port.
ROS2 uses DDS as its middleware, providing: codesys ros2
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.
As industrial automation continues its trend toward greater flexibility and intelligence, the connection between traditional control systems and robot operating systems will only grow. CODESYS and ROS 2 are at the forefront of this convergence, providing a complete toolchain for building the next generation of smart, connected, and highly capable automation systems. Your ROS 2 stack processes LiDAR data and
This public link is valid for 7 days and shares a thread, including any personal information you added. This link or copies made by others cannot be deleted. If you share with third parties, their policies apply. Can’t copy the link right now. Try again later.
: AMRs navigate the warehouse floor using ROS2 Nav2. When the AMR arrives at a loading dock, it links with a CODESYS-controlled conveyor system to coordinate the safe, automated transfer of heavy freight. In CODESYS, you set up a communication task
If CODESYS and ROS 2 are running on the exact same hardware—such as an Industrial PC (IPC) utilizing a real-time Linux kernel (PREEMPT_RT)—they can communicate via Shared Memory or Inter-Process Communication (IPC). A dedicated ROS 2 node writes velocity commands to shared memory, which the CODESYS runtime reads deterministically to drive the motors. Step-by-Step Implementation Guide
Download the project to your controller (e.g., a Raspberry Pi running CODESYS or an industrial PC). Step 2: Set Up the ROS2 Workspace
Before deploying physical hardware, engineers can run a virtual CODESYS PLC (SoftPLC) on a local machine and connect it to a ROS2 simulation running in Gazebo or Isaac Sim. This allows complete validation of the control logic and robotics algorithms in a risk-free virtual environment. Key Challenges and Best Practices