Check if Ouster is in sync with Jetson Xavier using ptp4l command

wei_95

I set up my system with Ouster connected to Jetson Xavier and try to sync it by using ptp4l command. However, how can I check if the sensor is in synced?

Mohit

Hi @wei_95
Run the ouster client. Watch for the timestamp. It may take 1-2min.
Hope this helps!

affi

Mohit

Can you please elaborate more on it?

I have industrial camera and ouster lidar 64 channel os1. I setup the PTP, Is there any way to ensure that the time sync has really happened? Can you guide me in this direction. Like, how can I make sure that the synchronization is done and lidar is time-stamping the packets using ptp?

I have done the configuration as per official documentation.

I am using ros 1 and drivers provided by ouster on GitHub.

Regards,
Affi

affi

@Mohit Any update for the post?

I have tested with the following command:

sudo pmc 'GET PARENT_DATA_SET' 'GET CURRENT_DATA_SET' 'GET TIME_STATUS_NP' sending: GET PARENT_DATA_SET sending: GET CURRENT_DATA_SET sending: GET PORT_DATA_SET sending: GET TIME_STATUS_NP 00010d.fffe.c3f4fc-1 seq 0 RESPONSE MANAGEMENT PARENT_DATA_SET parentPortIdentity 00044b.fffe.e59fc7-1 parentStats 0 observedParentOffsetScaledLogVariance 0xffff observedParentClockPhaseChangeRate 0x7fffffff grandmasterPriority1 128 gm.ClockClass 128 gm.ClockAccuracy 0xfe gm.OffsetScaledLogVariance 0xffff grandmasterPriority2 128 grandmasterIdentity 00044b.fffe.e59fc7 00010d.fffe.c3f4fc-1 seq 1 RESPONSE MANAGEMENT CURRENT_DATA_SET stepsRemoved 1 offsetFromMaster 886.0 meanPathDelay 10400.0 00010d.fffe.c3f4fc-1 seq 2 RESPONSE MANAGEMENT PORT_DATA_SET portIdentity 00010d.fffe.c3f4fc-1 portState SLAVE logMinDelayReqInterval 0 peerMeanPathDelay 0 logAnnounceInterval 1 announceReceiptTimeout 3 logSyncInterval 0 delayMechanism 1 logMinPdelayReqInterval 0 versionNumber 2 00010d.fffe.c3f4fc-1 seq 3 RESPONSE MANAGEMENT TIME_STATUS_NP master_offset 886 ingress_time 1517160762412908080 cumulativeScaledRateOffset +0.000000000 scaledLastGmPhaseChange 0 gmTimeBaseIndicator 0 lastGmPhaseChange 0x0000'0000000000000000.0000 gmPresent true gmIdentity 00044b.fffe.e59fc7

I know some of the values from above ouput, for example gmPresent means the PTP clock is synchronized to a master,I can also see portState for 00010d.fffe.c3f4fc-1 device which is in slave state.

But dn't know about other values? let me explain what is my issue. I am trying to make sure that I have configured the PTP4l and Phc2sys correctly, because normally there should be no need of restarting the ptp4l and phc2sys services on every reboot, as I have setup it per official documentation and enabled them on start. However, the ptp4l and phc2sys will only work if I restart both services followed by daemon-reload on every boot otherwise it will not work. Because if this step, which I have to do on every reboot (i.e., restarting ptp4l and phc2sys services), I am sure that there is a problem but not able to pinpoint it and solve it.

I would appreciate your help for the right direction.

regards

ishanb

Hi, Can you pls guide me, How were you able to install Ouster SDK on Nvidia Jetson AGX Xavier?

We are getting PEP 517 error while trying to install Ouster SDK

" Cannot build wheels for Ouster-Sdk , which uses PEP 517 and cannot be installed directly. "