How to read/write topic data from ROS into TwinCat3 program

asked 2021-03-16 04:31:03 -0600

liambroek gravatar image

updated 2021-03-16 04:41:22 -0600

I have a robot that is controlled by TwinCat on an IPC. I would like to integrate ROS with this system on the same IPC. Is there a way to read/write the data from/to ROS topics into my TwinCat program?

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Comments

Have you looked into Beckhoff's TwinCAT SDK? With ROS2 natively usable on Windows, this should be possible.

fhwedel-hoe gravatar image fhwedel-hoe  ( 2021-03-16 05:03:44 -0600 )edit

Thanks, will have a look

liambroek gravatar image liambroek  ( 2021-03-16 08:30:39 -0600 )edit

I would perhaps take a look at Beckhoff/ADS. It's an OSS library from Beckhoff which enables communication over ADS with "Twincat devices". It's regular C++11 and does not require Windows.

gvdhoorn gravatar image gvdhoorn  ( 2021-03-16 14:00:17 -0600 )edit

hello, did you do it?

hemj940222 gravatar image hemj940222  ( 2021-07-19 09:15:34 -0600 )edit