Codesys Ros2 -

// Start the CoDeSys controller controller.start();

The CODESYS and ROS 2 hybrid architecture is unlocking new capabilities across several modern sectors: Autonomous Mobile Robots (AMRs) & AGVs

A shared memory area allows the PLC and ROS 2 to share a memory region at high speed. Advantage: Minimal latency for tight control loops. codesys ros2

The ROS2 Nav2 stack calculates a velocity command ( Twist message). It publishes this to a topic /cmd_vel . Through a DDS bridge or Gateway, this data arrives in the CODESYS controller as a structure containing linear and angular velocities. The CODESYS logic then checks if the velocity is within safe limits, applies ramping (smooth acceleration), and sends the command to the motor drives.

capabilities of modern robotics frameworks. This setup is increasingly popular in Industry 4.0 for building flexible, robust automation systems. Core Architecture & Communication // Start the CoDeSys controller controller

CODESYS allows easy integration of EtherCAT/CANopen devices, which ROS2 can manage through a bridge.

: Non-deterministic; higher latency; not suitable for tight closed-loop control. 3. The OPC UA Bridge (Industrial Standard) It publishes this to a topic /cmd_vel

This approach is particularly attractive when the integration must pass through a corporate IT network, or when the ROS 2 system already uses OPC UA for other purposes. However, OPC UA is generally slower than shared memory and may not achieve the highest real‑time frequencies (e.g., above 100 Hz).