The construction industry is facing severe challenges in terms of safety and productivity, which has led to the inevitable trend of automating tower cranes. However, the transition from theoretical models to practical deployment is largely hindered by the Simulation to-Reality (Sim2Real) gap. This paper proposes a laboratory-scale autonomous tower crane development scheme based on the Robot Operating System (ROS) 2 hierarchical control architecture, aiming to address these physical limitations. The proposed system decouples high-level asynchronous spatial motion planning from low-level synchronous hardware execution. Toovercomethetiminglimitations of standard middleware, a custom Linux SocketCAN driver was developed for direct management of the CiA 402 state machine and CANopen communication. The Hardware-in-the-Loop (HIL) evaluation demon strated that this hybrid scheduling strategy achieved strict multi-axis synchronization be tween the slewing, trolley, and hoisting joints. This architecture maintains deterministic End-to-End (E2E) command transmission delay. Ultimately, this robust software and hardware pipeline provides a rigorously verified physical baseline for future deployment of advanced closed-loop anti-sway control strategies.     «

The construction industry is facing severe challenges in terms of safety and productivity, which has led to the inevitable trend of automating tower cranes. However, the transition from theoretical models to practical deployment is largely hindered by the Simulation to-Reality (Sim2Real) gap. This paper proposes a laboratory-scale autonomous tower crane development scheme based on the Robot Operating System (ROS) 2 hierarchical control architecture, aiming to address these physical limitations....     »