Codesys Ros2 Jun 2026

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.

Integrating with ROS 2 (Robot Operating System 2) creates a powerful bridge between traditional industrial automation and modern robotic intelligence . This combination allows engineers to leverage the determinism and safety of a PLC (Programmable Logic Controller) alongside the advanced perception, mapping, and navigation capabilities of ROS 2. 1. The Core Synergy codesys ros2

CODESYS handles low-level hardware (e.g., EtherCAT, CANopen) with millisecond precision, which is often difficult to achieve reliably in a pure ROS 2 environment. The integration of CoDeSys and ROS 2 represents

Inserting the CODESYS→ROS2 publisher at 1kHz increased the maximum PLC cycle time from 1.02ms to 1.19ms (17% increase). The worst-case occurred during DDS discovery heartbeats (every 3s). Using rclcpp::Publisher::publish() with pre-allocated messages eliminated dynamic memory inside the RT task. Inserting the CODESYS→ROS2 publisher at 1kHz increased the

ROS2 uses DDS as its middleware, providing: