Transponder

Transponder between cars for the IAC.

Features

• Arduino based
• ROS2 node example
• Powered via PoE

Theory of Operation

The ESP32-PoE-ISO listens to UDP packets published from the ROS2 node ros2 run transponder2ros transponder2ros_node. These are then packaged with a header and a checksum and sent out as serial data over the xbee network to all the available nodes. The ESP32-PoE-ISO takes any received packets over the xbee network, checks their integrity, and converts them back into UDP packets, and forwards them back to the transponder2ros_node. The node then publishes the data out as a transponder_msgs::msg::Transponder onto the ROS2 network.

Components

• Compute
  • Olimex ESP32-PoE-ISO
    • https://www.digikey.com/en/products/detail/olimex-ltd/ESP32-POE-ISO/10258716
• Radio
  • Xbee radio
    • https://www.digikey.com/en/products/detail/digi/XB3-24Z8ST/8130935
  • Xbee breakout
    • https://www.digikey.com/en/products/detail/sparkfun-electronics/BOB-08276/5318741
  • Xbee headers
    • https://www.digikey.com/en/products/detail/adafruit-industries-llc/366/5629440
• Antennas
  • Antenna (small)
    • https://www.digikey.com/en/products/detail/te-connectivity-linx/ANT-2-4-LCW-RPS/9607800
  • Antenna (large)
    • https://www.digikey.com/en/products/detail/taoglas-limited/FW-24-SMA-M/7035228