Codesys Ros2 — Fixed

ROS2_Publish_1( Enable := TRUE, TopicName := '/plc/joint1_angle', Message := ROS2_Message, Data := DWORD_TO_REAL(joint_angle) );

: Most integrations use MQTT , OPC UA , or specialized UDP/TCP drivers. CODESYS acts as a server/client, while a ROS 2 node subscribes to or publishes the relevant data. codesys ros2