<> <> == Overview == This package provides shared memory driver for various NTP daemons (such as ntpd and chrony). == Time server configuration == === ntpd === Just add to `/etc/ntp.conf`: {{{ ### GPS SHM driver (unit 2) server 127.127.28.2 minpoll 4 maxpoll 4 fudge 127.127.28.2 time1 0.5 stratum 12 refid ROS }}} === chrony === Add this to `/etc/chrony/chrony.conf`: {{{ ### SHM driver (unit 2) refclock SHM 2 delay 0.5 refid ROS }}} Note that chrony does not allow set stratum (topic not very accurate), but i hope delay option does same thing. == Node == {{{ #!clearsilver CS/NodeAPI node.0 { name= shm_driver desc= This node sends time from topic to time server. sub { 0.name= ~time_ref 0.type= sensor_msgs/TimeReference 0.desc= Time source topic. } param { 0.name= ~shm_unit 0.type= int 0.desc= SHM Unit (must be same as in time server config). 0.default= 2 } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage