I need some help. The situation: An agv robot is controlled by an Schneider PLC (M340) with Lexium32 servomoteur, but we want to add a LIDAR to the system for navigation. We want this LIDAR to connect to a Raspberry Pi4 8Gb that runs ROS and calculate the direction en velocity . The data dat the ROS system calculates needs to be send to the PLC in de AGV. The phisical connection between the PLC and the Raspberry Pi is estableshed via a ethernet cable.
Question: What protocol can I use best to send data from ROS to the PLC? What packages do I need? how i can do this thanks