Hi,
I am wondering if there is a way to synchronize the onboard pc of the Go2 to the Jetson Orin extension board.
When looking at the time stamps in the messages published by the onboard pc after booting up, they are completely off compared to the clock on the Orin. Hence, any ROS nodes running on the Orin will live in a different timeline.
Is there any functionality implemented in the firmware that runs on the board to act as a master or slave clock to synchronize it with an external pc like the Orin board?
Many thanks in advance!
Connect the Go2 to the internet and run
sudo date -s "$(wget --method=HEAD -qSO- --max-redirect=0 google.com 2>&1 | sed -n 's/^ *Date: *//p')"
If I understand correctly, your answer implies that the onboard pc automatically fetches the time from an internet time server when being connected to a Wifi network?
And you suggest to manually set the time on the Orin to a reference clock from the internet to approximately synchronize them once, using a common internet time server.
But is there also a way to synchronize them directly and continuously using e.g. chrony or even PTP, which also works if not both the orin and the onboard pc are connected to the internet?
Yes
Generally the Nvidia board has a little battery for keeping hardware sync to current time we haven’t verified it for the GO2 but it should be possible to sync the hw clock with the set time
Yes there should be for that you can look into the Nvidia forums on how to activate chrony or PTP on the board to get from a common server.