Codesys Ros2 _verified_ -

Despite the variety of integration methods, a generalized procedure can be applied to most approaches. This walkthrough provides a high-level roadmap for connecting CODESYS and ROS 2.

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. codesys ros2

All of this is configured via CODESYS’s IEC 61131‑3 graphical tools and ROS 2’s standard tooling ( rqt , rviz2 ). Despite the variety of integration methods, a generalized

Finally, one or more ROS 2 nodes are written to handle the communication. Using standard ROS 2 tools, the process typically involves: Several distinct pathways have been developed to connect

For legacy systems or those where CAN bus is the primary communication medium, the ros_canopen package provides a standard ROS/ROS2 interface. This method relies on the CODESYS device implementing a CANopen protocol stack. The ros_canopen package handles the intricacies of CAN communication on the ROS side, such as sending Process Data Objects (PDOs) and Service Data Objects (SDOs). This approach is best suited for transmitting relatively small amounts of data at lower frequencies but benefits from a well-established ROS ecosystem.