Contents
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
shm_driver
This node sends time from topic to time server.Subscribed Topics
~time_ref (sensor_msgs/TimeReference)- Time source topic.
Parameters
~shm_unit (int, default: 2)- SHM Unit (must be same as in time server config).
