Get Time information from Jetson Agx to do time synchronization

[JINGJAN]

Is your feature request related to a problem? Please describe. As the title said, I want to use the time info from Jetson Agx to do time synchronization.

• As mentioned in the VLP-32C User Manual(Page 49), we could send NMEA Messages to lidar Via Ethernet. I try to send the message to 192.168.1.201 port 10110 like below:

  $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W,A*07

• I have also checked with tcpdump, this message has been successfully sent to 192.168.1.201 port 10110

  my laptop.33830 > 192.168.1.201.10110: UDP, length 68

After doing this, the timestamp of the Lidar frame has not changed. So I have some questions:

1. Are both PPS and NMEA necessary, if I want to change the timestamp of Lidar.
2. If 1 is right, why Velodyne doesn't give the way to send PPS to lidar via Ethernet?
3. Could I only use Ethernet to change the timestamp of lidar?

Describe the solution you'd like If possible, could you give some API to set the timestamp of the lidar.