Codesys Ros2 Hot!

ROBIN deserves a closer look because it is the most polished, open‑source solution for CODESYS‑ROS2 integration. Developed under the ROSIN European project, ROBIN is a bidirectional, reliable, and structured communication bridge that focuses on high performance and ease of use.

CODESYS offers a DDS library that allows a PLC to communicate directly with ROS2 nodes.

The lock-free bridge adds ~135μs overhead compared to native DDS, acceptable for most mechatronic systems (e.g., mobile robot base control, conveyor tracking). The OPC UA path is unsuitable for real-time control but remains viable for configuration and non-critical logging. codesys ros2

OPC Unified Architecture (OPC UA) is a platform‑independent, secure communication standard widely adopted in industrial automation. CODESYS includes built‑in support for an OPC UA server, which can expose any of its process variables as OPC UA nodes. On the ROS 2 side, a node can act as an OPC UA client using libraries such as open62541 (C/C++) or asyncua (Python) to read and write those variables.

In your CODESYS project:

The CODESYS ROS 2 library supports:

It isn't just a bridge; it is a native integration. The ROS 2 nodes communicate directly with the CODESYS SoftMotion PLCopen parts via shared memory. ROBIN deserves a closer look because it is

Data passes via a shared RAM buffer ( shm_open , semaphores, or ring buffers).

: Modern industrial platforms like Bosch Rexroth’s ctrlX use a "datalayer" that acts as a broker, allowing ROS 2 topics to be mapped directly to PLC global variables. Bosch Rexroth Performance and Capabilities The lock-free bridge adds ~135μs overhead compared to

A practical deployment integrated: