Codesys Ros2 [patched] Jun 2026

Engineers use CODESYS because it offers hard real-time performance. The scan cycle of a PLC is sacred; inputs are read, logic is processed, and outputs are written in a guaranteed timeframe. It is designed to handle the "low-level" reality of hardware: turning on hydraulic valves, reading safety light curtains, and managing motor drives via EtherCAT.

A mobile manipulator with a CODESYS‑based safety PLC controlling gripper and lift, and ROS 2 handling perception and navigation.

More integrated systems where the PLC needs to be a "first-class citizen" in the ROS graph. 3. Shared Memory (The High-Performance Route)

PLC-centric (CODESYS master)

Many CODESYS-compatible controllers support OPC UA , which can be bridged to ROS 2 using standard nodes like ros2_opcua_gateway . codesys ros2

ROS 2 provides access to millions of lines of open-source code for complex tasks like SLAM (Simultaneous Localization and Mapping) and computer vision.

OPC UA is the gold standard for industrial interoperability and is natively supported by CODESYS.

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For a team with both PLC programming and ROS 2 skills, here is a step‑by‑step guide to implementing a basic integration: Engineers use CODESYS because it offers hard real-time

By running a micro-ROS client directly on the PLC hardware (if the OS allows), the PLC can publish and subscribe to ROS 2 topics natively.

Bridging a softPLC and a Data Distribution Service (DDS) network requires choosing the right communication bridge based on your cycle time and hardware configuration.

ROS2 manages navigation, mapping, and SLAM, while CODESYS handles wheel encoders, motor drives, and safety sensors via EtherCAT.

The most exciting development for high-performance applications is the implementation of DDS directly onto the controller. Since ROS2 uses DDS as its middleware, a PLC that speaks DDS can essentially act as a native ROS2 node. A mobile manipulator with a CODESYS‑based safety PLC

DDS over Wi-Fi can have variable latency. For high-speed motion control, use wired Ethernet connections.

Excels in deterministic, real-time control of I/O, safety, motion, and industrial protocols (EtherCAT, PROFINET). It is fast, robust, and reliable.

CODESYS is an IEC 61131-3 development environment for programmable logic controllers (PLCs), ideal for industrial control tasks like motion control and logic sequencing. It excels in real-time performance and reliability.

For years, these two ecosystems existed in isolation. Bridging them required complex, custom-built communication bridges that introduced latency and vulnerabilities. Today, integrating —the leading hardware-independent IEC 61131-3 development system—with ROS 2 has emerged as a premier architecture for next-generation smart factories. Why Connect CODESYS with ROS 2?

community has several open-source projects dedicated to communication libraries. Additionally, checking out the ROS 2 Hardware Interface