Codesys Ros2 [work] File
Here’s a feature concept for bridging CODESYS (a leading IEC 61131-3 development environment for industrial controllers) with ROS 2 (Robot Operating System), aimed at simplifying hybrid robotics/automation projects.
CoDeSys is a software tool developed by 3S - Smart Software Solutions GmbH, a leading provider of automation software. It allows users to design, test, and deploy control applications for various industrial automation controllers, including programmable logic controllers (PLCs), industrial PCs, and other embedded systems. CoDeSys supports multiple programming languages, including IEC 61131-3 languages (e.g., Ladder Logic, Function Block Diagram, and Structured Text). codesys ros2
Intermediate Protocols: Using Modbus or OPC UA as an intermediary layer. For example, a Python script in the ROS2 workspace can act as a bridge, reading data from CODESYS via Modbus and publishing it to a ROS2 topic. Here’s a feature concept for bridging CODESYS (a
- PLC publishes gripper state (
gripper_opened,force_sensor) to ROS 2 topics every 20 ms. - ROS 2 perception node subscribes to
force_sensor, decides to regrip. - ROS 2 sends a goal to PLC’s action server:
ExecuteGripSequence(force_limit := 50N). - PLC executes the sequence and returns result (
gripped_object_detected := true). - Meanwhile, PLC subscribes to
/cmd_velfrom ROS 2 navigation – if no message arrives for 200 ms, PLC automatically stops the drive for safety.
