ROS 2 is the industry standard for robot development, featuring a distributed architecture built on the Data Distribution Service (DDS) that enhances its fault tolerance and real-time performance.
One of the most debated aspects of CODESYS‑ROS2 integration is real‑time performance. CODESYS runtimes are inherently real‑time: they can execute IEC 61131‑3 programs with deterministic cycle times as low as 125 µs, and they interface with fieldbuses like EtherCAT at rates up to 4 kHz. ROS 2 was designed with real‑time in mind (unlike ROS 1), but achieving deterministic, low‑latency communication still requires careful design.
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 ros2
Network communication can drop. Always implement a watchdog timer inside CODESYS. If the PLC does not receive a heartbeat packet from ROS 2 within a strict window (e.g., 100ms), CODESYS must safely ramp down the motors to a dead stop.
All of this is configured via CODESYS’s IEC 61131‑3 graphical tools and ROS 2’s standard tooling ( rqt , rviz2 ). ROS 2 is the industry standard for robot
DDS supports security features (authentication, encryption), which should be configured when integrating PLC systems into network environments. Conclusion
return 0;
Instead of writing individual, unstable Linux drivers for every industrial servo and sensor, engineers can configure fieldbuses in CODESYS with just a few clicks.