PTP Synctime Offset - Githubissues

HesaiTechnology / HesaiLidar_General_ROS

ROS driver for PandarXT PandarQT Pandar64 Pandar40P Pandar40M Pandar20A Pandar20B

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PTP Synctime Offset #13

Open philRudd69 opened 4 years ago

philRudd69 commented 4 years ago

Hi Hesai-Crew,

first of all: Thank you very much for this ROS driver. It helps a lot, but unfortunately we encounter problems when we want the time of our PTP master clock to be used in header->stamp and in the timestamps of each and every point in the custom PPointCloud message. But instead of the master clock time we experience an offset in the timestamp of about 20 years. Is there a bug in the ROS-driver? How do we fix this? Thank you :) Cheers

Markus

yangfanFred commented 4 years ago

Hi Markus,

Which product are you using and what's the firmware version of the unit? We will look into this issue.

Thanks, Fred

philRudd69 commented 4 years ago

Hi Fred,

sorry for the late reply. I am using the

Pandar64
- software version 2.7.7
- hardware version 1.0.0
- Firmware version 5.10
a hard copy of this GIT repo from 3rd of September 2019
Ubuntu 18.04
ROS Melodic
PTP Master Clock is a Meinberg m500

yangfanFred commented 4 years ago

Hi Markus,

I did some test at my side. Things you described doesn't look like a ROS bug, it seems more like a configuration issue, I'm not sure if the time from PTP master has successfully locked into your Lidar.

Please check the PTP status and clock source setting from Lidar's web page, make sure Lidar time is tracking or locked and clock source is correctly selected

Then please use wireshark to monitor the UDP packets, see the Date&Time fields to check if the time is correct.

Thanks， Fred

philRudd69 commented 4 years ago

Hi Fred, many thanks for your support. We will check your proposal on Friday. Hopefully we can solve the issue then. Until then: Thank you! Cheers Markus