https://github.com/vooon/ntpd_driver

This node convert ROS TimeReference message to ntpd-shm format.
https://github.com/vooon/ntpd_driver

ntpd ntpd-driver ros ros-node shm

Last synced: about 2 months ago
JSON representation

This node convert ROS TimeReference message to ntpd-shm format.

• Host: GitHub
• URL: https://github.com/vooon/ntpd_driver
• Owner: vooon
• License: bsd-3-clause
• Created: 2014-06-27T21:16:05.000Z (almost 10 years ago)
• Default Branch: master
• Last Pushed: 2022-12-30T14:31:27.000Z (over 1 year ago)
• Last Synced: 2024-02-03T06:38:06.227Z (5 months ago)
• Topics: ntpd, ntpd-driver, ros, ros-node, shm
• Language: C++
• Size: 68.4 KB
• Stars: 13
• Watchers: 2
• Forks: 5
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • License: LICENSE

Lists

• Awesome-Self-Driving - ntpd_driver - This node convert ROS TimeReference message to ntpd-shm format. (9. GPS, IMU / 8.8. Other)

README

        
ntpd\_driver

============

This ROS node listen `sensor_msgs/TimeReference` and send it to ntpd via SHM (like gpsd).

Parameter `~/shm_unit` define SHM unit (in ntp.conf) (int, default: 2).

Parameter `~/fixup_date` enable/disable date fixup (bool, default: false)

System configuration

--------------------

### ntpd configuration

Add this to `/etc/ntp.conf`:

    ### GPS SHM driver

    server 127.127.28.2 minpoll 4 maxpoll 4

    fudge 127.127.28.2 time1 0.5 stratum 12 refid ROS

And then restart ntp service.

Run example:

    rosrun ntpd_driver shm_driver _shm_unit:=2 _time_ref_topic:=/mavros/time_reference

### chrony configuration

Add this to `/etc/chrony/chrony.conf`:

    ### SHM driver

    refclock SHM 0 delay 0.5 refid ROS

And then restart chrony service.

Run example:

    rosrun ntpd_driver shm_driver _shm_unit:=0 _time_ref_topic:=/mavros/time_reference

### Date fixup configuration (sudo)

On my Raspberry Pi 2 ntpd reject SHM data if system date is not set (e.g. JAN 1970).

To fix that `shm_driver` now can set system time if it unset.

For setting date program requires root privileges, so used `sudo`.

Add this to `/etc/sudoers` (using `visudo`):

    %sudo	ALL=NOPASSWD: /bin/date