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To address the demand for flexible robotics in contemporary industrial environments and the necessity to integrate robots and automation equipment in an efficient manner, an effective, bidirectional, reliable and structured data interchange mechanism is required. As an answer to these requirements, this article presents ROBIN, an open-source middleware for achieving interoperability between the Robot Operating System and CODESYS, a softPLC that can run on embedded devices and that supports a variety of fieldbuses and industrial network protocols. The referred middleware was successfully applied and tested in various industrial applications such as battery management systems, motion, robotic manipulator and safety hardware control, and horizontal integration between a mobile manipulator and a conveyor system.<\/jats:p>","DOI":"10.1177\/1729881420910316","type":"journal-article","created":{"date-parts":[[2020,5,11]],"date-time":"2020-05-11T07:26:24Z","timestamp":1589181984000},"update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["ROBIN: An open-source middleware for plug\u2018n\u2019produce of Cyber-Physical Systems"],"prefix":"10.1177","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0532-9115","authenticated-orcid":false,"given":"Rafael","family":"Arrais","sequence":"first","affiliation":[{"name":"INESC TEC \u2013 INESC Technology and Science, Porto, Portugal"},{"name":"Faculty of Engineering of the University of Porto, Porto, Portugal"}]},{"given":"Paulo","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"INESC TEC \u2013 INESC Technology and Science, Porto, Portugal"}]},{"given":"Henrique","family":"Domingos","sequence":"additional","affiliation":[{"name":"INESC TEC \u2013 INESC Technology and Science, Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3044-6938","authenticated-orcid":false,"given":"Germano","family":"Veiga","sequence":"additional","affiliation":[{"name":"INESC TEC \u2013 INESC Technology and Science, Porto, Portugal"},{"name":"Faculty of Engineering of the University of Porto, Porto, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2020,5,11]]},"reference":[{"issue":"11","key":"bibr1-1729881420910316","first-page":"2","volume":"13","author":"Kagermann H","year":"2011","journal-title":"VDI nachrichten"},{"key":"bibr2-1729881420910316","first-page":"1","volume-title":"2014 IEEE international conference on automation, quality and testing, robotics","author":"Jazdi N"},{"key":"bibr3-1729881420910316","first-page":"55","volume-title":"ECIS 2002 proceedings","author":"Axelsson K"},{"key":"bibr4-1729881420910316","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsis.2008.04.001"},{"key":"bibr5-1729881420910316","doi-asserted-by":"publisher","DOI":"10.1108\/17410390710717156"},{"key":"bibr6-1729881420910316","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmsy.2015.04.008"},{"key":"bibr7-1729881420910316","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2036033"},{"key":"bibr8-1729881420910316","first-page":"1085","volume-title":"2018 IEEE 16th international conference on industrial informatics (INDIN)","author":"Pinto T"},{"key":"bibr9-1729881420910316","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmsy.2017.02.016"},{"key":"bibr10-1729881420910316","first-page":"617","volume-title":"Iberian robotics conference","author":"Toscano C"},{"key":"bibr11-1729881420910316","doi-asserted-by":"publisher","DOI":"10.1016\/j.mfglet.2014.12.001"},{"key":"bibr12-1729881420910316","unstructured":"Hellinger A, Seeger H. 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