Codesys Ros2 2021 Official

Integrating CODESYS with ROS 2: Bridging Industrial Automation and Robotics

• QoS profiles: Reliability, durability, history, deadline.
• Discovery: Dynamic node discovery via participant discovery protocol.
• Node model: Publisher, Subscriber, Service, Action.

ROS 2 library

CODESYS GmbH (now part of Schneider Electric) provides a dedicated for CODESYS. This library introduces special function blocks that act as DDS (Data Distribution Service) publishers and subscribers—directly from IEC 61131-3 code. codesys ros2

Months later, with the system matured, the plant ran like a team moving with purpose. A line change that used to require half a day and two technicians now took minutes: engineers edited a ROS 2 behavior tree, CODESYS loaded the motion parameters, and the translator negotiated the transition. Mobile robots, once cautious, now flowed through aisles with CODESYS-supervised maneuvers and ROS 2-aware intentions—human workers felt safer, and throughput rose. QoS profiles: Reliability, durability, history, deadline

• CODESYS → ROS 2: A ROS2_Publish block in Structured Text sends a JointState message or a custom interface.
• ROS 2 → CODESYS: A ROS2_Subscribe block listens to /cmd_vel (twist messages) and writes the linear/angular velocities into PLC variables.

Use Cases for CoDeSys and ROS 2 Integration

A Typical Use Case: An AGV (Automated Guided Vehicle)

• Formal IDL mapping: Automate conversion from CODESYS DUT to ROS2 .msg via a CLI tool.
• Time-aware DDS: Use DDS Presentation QoS to attach hardware timestamps from EtherCAT cycle.
• Distributed real-time: Explore CODESYS SoftMotion on one core, ROS2 on another, with shared memory.