Getting CODESYS (Structured Text/Ladder Logic) to talk to ROS2 (C++/Python) requires a middleware bridge. There are three primary ways to do this: 1. The Micro-ROS Approach
CODESYS publishes data to an MQTT broker; a simple ROS2 Python node subscribes to that broker and republishes the data as a ROS2 Topic. codesys ros2
The CODESYS controller acts as a client that sends data to an agent running on a Linux-based gateway (or the same IPC). Getting CODESYS (Structured Text/Ladder Logic) to talk to
Managing two distinct build environments (CODESYS IDE and the Linux terminal/Colcon) increases the learning curve for traditional PLC engineers. Conclusion codesys ros2