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In the world of automation, we often see a "Great Divide." On one side, you have the Industrial PLC
: Writing custom C++ drivers that handle the hardware mapping in a way that remains compatible with ROS2's communication. Getting Started with ROS2 Topics codesys ros2
| IEC 61131‑3 | ROS 2 message type | |-------------|--------------------| | BOOL | bool | | INT / DINT | int32 / int64 | | REAL / LREAL| float32 / float64 | | ARRAY[0..9] OF BYTE | uint8[] | | STRUCT | user‑defined .msg | In the world of automation, we often see a "Great Divide