There are three primary methods to establish communication between a CODESYS runtime and a ROS2 node network. The right choice depends on your latency requirements and hardware constraints. 1. The Native DDS Approach (Lowest Latency)
In CODESYS, you set up a communication task to receive these velocity vectors. If using UDP, you can utilize the SysSocket or CAA Ethernet libraries to open a listening port.
: CODESYS excels at managing hardware fieldbuses like EtherCAT, PROFINET, and CANopen. Setting up an Industrial Ethernet network requires just a few clicks in the IDE. codesys ros2
: ROS 2 provides ready-to-use libraries for SLAM, navigation, and computer vision that are not natively available in traditional PLC environments. Developer Accessibility
The ROBIN project (Focused Technical Project by ROSIN) provides a standard for this integration, primarily designed to map CODESYS variables to ROS topics. There are three primary methods to establish communication
CoDeSys is a popular software tool for programming and configuring industrial controllers, such as programmable logic controllers (PLCs). It provides a comprehensive development environment for creating and testing control applications.
PLC-centric (CODESYS master)
In this section, we set up the PLC to read sensor data and publish it via MQTT.