If you are running on the same industrial PC as your ROS2 Humble or Iron distribution, shared memory is the fastest route.
Converting PLC data types (like REAL or INT ) into ROS2 messages ( sensor_msgs/LaserScan , etc.) requires careful serialization. codesys ros2
Integrating these two ecosystems allows developers to combine the "hard" real-time reliability of a PLC with the cutting-edge libraries of the robotics world. Here is an in-depth look at why this integration matters and how to achieve it. Why Integrate CODESYS with ROS2? If you are running on the same industrial