The ROS2 planner publishes /cmd_vel (velocity commands). The CODESYS DDS node subscribes to this topic, translates it into PLC motion commands, and moves the motors. Simultaneously, CODESYS publishes sensor data to /scan and /odom topics for the ROS2 navigation stack. 5. Challenges and Best Practices
If you are looking to start, I can help you for specific robotics platforms, or provide examples of C++ ROS nodes that use the asyncua library to talk to CODESYS via OPC UA. Share public link codesys ros2
This public link is valid for 7 days and shares a thread, including any personal information you added. This link or copies made by others cannot be deleted. If you share with third parties, their policies apply. Can’t copy the link right now. Try again later. The ROS2 planner publishes /cmd_vel (velocity commands)