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CODESYS + ROS 2: Bringing Industrial Control and Robotics Together
CODESYS is a widely used industrial automation engineering environment for programming PLCs with IEC 61131-3 languages. ROS 2 (Robot Operating System 2) is the modern, distributed robotics middleware standard focused on real-time-capable communication, modularity, and cross-platform support. Combining CODESYS and ROS 2 lets industrial control systems interoperate with advanced robotic capabilities — useful for factory automation, mobile robots, AGVs, collaborative robots, and lab or research deployments.
Option C: ROS 2 + EtherCAT (SoEM, IgH)
- Bypass CODESYS entirely and make ROS 2 an EtherCAT master.
- Pros: Very tight integration (e.g.,
ros2_controlwithethercat_hardwareinterface). - Cons: You lose IEC 61131-3 environment. Hard real-time from Linux only.
Data is exchanged through a shared memory interface, bypassing the network stack entirely. codesys ros2
Micro-ROS allows ROS2 nodes to run on microcontrollers and RTOS-based systems. For CODESYS users, this often involves using a Micro-ROS Agent. CODESYS + ROS 2: Bringing Industrial Control and
On the other side, we have ROS 2 (Robot Operating System 2). The rebellious, open-source star of research and logistics. ROS 2 thrives on distributed computing, peer-to-peer discovery (DDS), modular nodes, and a vast ecosystem for navigation, manipulation, perception, and simulation (Gazebo, Rviz). It is the brain of autonomous mobile robots (AMRs), robotic arms, and drone swarms. Bypass CODESYS entirely and make ROS 2 an EtherCAT master