Codesys Ros2 [RECOMMENDED]

Micro-ROS is a lightweight ROS 2 client for microcontrollers. Some CODESYS runtimes on ARM Cortex-M or ESP32 can integrate micro-ROS as a background task. This provides deterministic timed message exchange with very low overhead.

Let’s implement a minimal working example: a CODESYS PLC publishes a joint angle (simulated) and a ROS 2 node prints it. codesys ros2

Real-time behavior is limited by TCP stack latency (typically 10–100 ms). Suitable for monitoring, not high-speed control loops. Micro-ROS is a lightweight ROS 2 client for microcontrollers

Create a PlcJointState.msg :