Perspectives on the integration of robotic systems and programmable logic controllers using ROS2

Abstract

Historically, the integration of ROS 2 with Programmable Logic Controllers (PLCs) has been achieved using standard industrial protocols (such as MODBUS TCP, OPC UA, MQTT). However, these conventional approaches introduce network latencies that preclude strict closed-loop kinematic control. Addressing this constraint, leading automation manufacturers have developed native integration solutions. These architectures co-execute ROS 2 and the PLC runtime on a single hardware platform through the implementation of hypervisors and shared memory techniques. This paper provides a comparative review of six native integration architectures, assessing their communication mechanisms, latency, determinism, and technological maturity in contrast to traditional industrial protocols. The interconnection of independent execution partitions via shared memory is identified as the optimal architectural pattern, a paradigm best illustrated by Siemens’ SIMATIC ROXSIE connector and Beckhoff’s TwinCAT/BSD hypervisor. Ultimately, the implications of this architecture for Self-Driving Labs are discussed, where the coexistence of deterministic PLCs and heterogeneous ROS 2-based robots demands simultaneous guaranties of real-time and functional-safety.