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Bridging Industry 4.0: Integrating CODESYS with ROS 2 The integration of , the global standard for industrial controller programming, with ROS 2 (Robot Operating System), the premier framework for advanced robotics, represents a significant leap for Industry 4.0 . By combining the deterministic reliability of PLCs with the advanced perception and planning capabilities of ROS 2, engineers can build sophisticated, safety-critical robotic systems. Why Integrate CODESYS and ROS 2?

The integration of CoDeSys and ROS 2 can be applied to various industries and applications, including: codesys ros2

For low-latency data exchange on a single hardware unit (like a Raspberry Pi running both CODESYS and ROS 2), developers often use shared memory interfaces or MQTT brokers to pass variables between the PLC runtime and ROS nodes. Bridging Industry 4

| Feature | Handled by CODESYS (PLC side) | Handled by ROS 2 (Edge/PC side) | | :--- | :--- | :--- | | | Servo drives, hydraulic valves, temperature loops (<1ms) | High-level trajectory following (>10ms) | | Safety | Safety-rated PLC (ISO 13849) | Monitoring, but not SIL-rated logic | | I/O Handling | 24V digital, 4-20mA analog, EtherCAT slaves | Cameras, LiDARs, 3D sensors, microphones | | Algorithms | PID, motion control (CNC/Robotics) | SLAM, A*, MoveIt motion planning, YOLO vision | | Communication | Modbus TCP, Profinet, OPC UA | DDS (Fast-DDS, CycloneDDS), MQTT, WebSockets | | Deployment | Flash to non-volatile PLC memory | Docker containers, Kubernetes, snap packages | The integration of CoDeSys and ROS 2 can