Transponder between cars for the Indy Autonomous Challenge.
Features
- Arduino based
- ROS2 node example
- Powered via PoE
The ESP32-PoE-ISO listens to UDP packets published from the ROS2 node 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.
Each air packet is about 40 bytes long, so the network can handle about XXXXX, to test in real world conditions packets/sec between all nodes.
The data format is designed to look like a GPS packet with some additional information, so make sure to read the comments in the .msg file to ensure your data is in the correct units (and scales).
All data should be referenced from the centre of the rear axle and the time reference is UTC.
All dependencies on the ROS2 side can be installed via rosdep.
From your main workspace folder, run rosdep install --from-paths src --ignore-src -r -y.
If you have trouble with finding geographiclibs, debian/ubuntu installs FindGeographicLib.cmake in a non-standard location, but this should be covered in the CMakeLists.txt file.
The Arduino code is only required to update the transponder firmware. See the Arduino README.md for installation instructions.
XTCU is used to configure the XBee. This should only be required once.
See the individual README.md files in each folder for more information - ESP32-PoE-ISO (Arduino) / ROS / XBee / Hardware.