Codesys Ros2 May 2026

We implemented a CODESYS ROS2 Client Library written in C++ (compiled as a CODESYS External Library) and exposed to IEC code via Function Blocks (FBs).

The CODESYS ROS 2 integration is a mature, production-ready bridge that respects the strengths of both worlds. It does not ask a PLC to think like a robot, nor a robot to cycle like a PLC. Instead, it creates a high-bandwidth, low-latency neural link between deterministic control and cognitive autonomy.

For engineers facing the greenfield challenge of Industry 4.0, mastering this bridge is no longer a "nice to have"—it is a competitive necessity. codesys ros2

Ready to start? Download the CODESYS ROS 2 library from the CODESYS Store, install Ubuntu 22.04 with ROS 2 Humble and CODESYS Control for Linux, and begin your first hybrid project today.

Technical Report: Integration of CODESYS and ROS2 Integrating We implemented a CODESYS ROS2 Client Library written

, the leading IEC 61131-3 development environment for industrial PLCs, with ROS2 (Robot Operating System 2)

, the de facto standard for flexible robotics middleware, allows systems to combine robust industrial hardware control with advanced robotic motion planning. 1. Executive Summary Ready to start

The synergy between CODESYS and ROS2 bridges the gap between high-level autonomous decision-making and low-level deterministic hardware execution. While ROS2 excels at complex perception and path planning, CODESYS provides a stable environment for managing industrial fieldbuses like with real-time reliability. 2. Technical Architectures for Integration

Current integration methods focus on bridging data between the ROS2 DDS (Data Distribution Service) layer and the PLC runtime. A. Shared Memory Communication

This is the most performant method, typically used when the CODESYS SoftPLC (e.g., CODESYS Control for Linux ) and ROS2 run on the same hardware platform.

Round-trip latency: On a modern i7 with Preempt-RT Linux, you can achieve 2-5 ms end-to-end (PLC input → ROS 2 processing → PLC output). This is suitable for mobile robots, but not for sub-millisecond servo drives (which should stay internal to CODESYS soft motion).