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MID-70使用PTP同步问题

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Author: gongyue | Time: 2021-12-7 12:05:44 | MID-70|
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Posted on 2021-12-7 12:05:44| All floors |Read mode
Last edited by gongyue In 2021-12-7 12:32 Editor

hi all,我按照教程设置了PTP模式下的mid-70同步系统时间的操作,eno1网卡支持PTP模式,看起来ptp4l和pch2sys都正常运行了,目前雷达点云数据成像是正常的,但时间戳不对。我随意写了一个ros node 发布了一个包含header的msg,header中的stamp用的ros::Time::now(),以此和话题/livox/lidar的header进行对比,二者时间戳差很多。下方是一些截图信息,请问我是哪里设置出了问题吗?

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 Author| Posted on 2021-12-7 15:37:54| All floors
系统硬件同步感觉没啥问题,但livox_driver_ros输出的msg时间戳转化后是2028年7月3日,雷达没有同步到吗?我的系统是ubuntu20.04 ros noetic
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Posted on 2021-12-7 15:40:11| All floors
您先用livox viewer 看一下,是否同步上了。同步上的话,差异没有那么大
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 Author| Posted on 2021-12-7 17:35:56| All floors
Last edited by gongyue In 2021-12-7 17:40 Editor
Livox Support Posted at 2021-12-7 15:40
您先用livox viewer 看一下,是否同步上了。同步上的话,差异没有那么大

你好,刚刚我重启了几次,现场viewer上显示无法同步了。
另外,系统时钟用wiresharp检测时发现在雷达工作时,多出来一个any

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 Author| Posted on 2021-12-7 17:46:16| All floors
另外,我刚刚用另一台ubuntu18.04的电脑也试了,一样的现象,livox viewer现在没有1588同步信号
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 Author| Posted on 2021-12-8 09:13:44| All floors
Last edited by gongyue In 2021-12-8 09:15 Editor

问题最终定位到了,是我的电脑的网卡配置问题,具体我也没有搞很清楚,(reserved = 0,而我的网卡reserved = 1 )总之又换了2台电脑,才可以用。
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