ntpd_driver

This ROS node listen sensor_msgs/TimeReference and send it to ntpd via SHM (like gpsd).

Parameter ~/shm_unit define SHM unit (in ntp.conf) (int, default: 2). Parameter ~/time_ref_topic define the topic to subscribe to (string, default: "~/time_ref"). Parameter ~/fixup_date enable/disable date fixup (bool, default: false)

System configuration

ntpd configuration

Add this to /etc/ntp.conf:

### GPS SHM driver
server 127.127.28.2 minpoll 4 maxpoll 4
fudge 127.127.28.2 time1 0.5 stratum 12 refid ROS

And then restart ntp service.

Run example:

rosrun ntpd_driver shm_driver _shm_unit:=2 _time_ref_topic:=/mavros/time_reference

chrony configuration

Add this to /etc/chrony/chrony.conf:

### SHM driver
refclock SHM 0 delay 0.5 refid ROS

And then restart chrony service.

Run example:

rosrun ntpd_driver shm_driver _shm_unit:=0 _time_ref_topic:=/mavros/time_reference

Date fixup configuration (sudo)

On my Raspberry Pi 2 ntpd reject SHM data if system date is not set (e.g. JAN 1970). To fix that shm_driver now can set system time if it unset.

For setting date program requires root privileges, so used sudo.

Add this to /etc/sudoers (using visudo):

%sudo	ALL=NOPASSWD: /bin/date

Changelog for package ntpd_driver

2.2.0 (2022-12-30)

• include: fix include warnings, arain
• fix ament_cpplint warnings
• node: remove time_ref_topic parameter, port for for #9

• Merge branch 'master' into ros2 * master: 1.3.0 update changelog ci: return semgrep default rule set ci: update ros-i ci action ci: add industrial CI shm_driver: remove time_ref topic parameter to improve secutiry, please use remap add license file

• 1.3.0
• update changelog
• ci: return semgrep default rule set
• ci: update ros-i ci action
• ci: add industrial CI
• shm_driver: remove time_ref topic parameter to improve secutiry, please use remap Fixes #9
• add license file
• Contributors: Vladimir Ermakov

2.1.0 (2021-03-25)

• make linker happy
• fix loading as a component
• Contributors: Vladimir Ermakov

2.0.2 (2021-02-26)

• make tests happy
• license: change formatting to one known by ament_copyright
• ci: initial import
• add license file
• Contributors: Vladimir Ermakov

2.0.1 (2019-12-29)

• disable depend on launch_xml, rosdep can't find it
• Contributors: Vladimir Ermakov

2.0.0 (2019-12-29)

• update launch
• read parameters
• subscribe to time_ref topic, remove log THROTTLE - segfaults
• open shm
• make it buildable, todo: subscribe, open shm
• update cmake to use ament
• Contributors: Vladimir Ermakov

1.3.0 (2022-12-30)

• ci: return semgrep default rule set
• ci: update ros-i ci action
• ci: add industrial CI
• shm_driver: remove time_ref topic parameter to improve secutiry, please use remap Fixes #9
• add license file
• Contributors: Vladimir Ermakov

1.2.0 (2015-10-02)

• #2: allow both UDPROS and TCPROS
• Contributors: Vladimir Ermakov

1.1.1 (2015-07-18)

• Syncronize shm write with gpsd/ntpshmwrite.c
• Add fixup_date parameter. Now driver can setup system date.
• Contributors: Vladimir Ermakov

1.1.0 (2015-04-17)

• Update package.xml for REP 140
• Change topic param name to [~/time_ref_topic]{.title-ref}
• Merge pull request #1 from oceansystemslab/master Updated Driver
• Updated README with new node input parameter
• fixed indentation according to ROS guidelines and added input parameter for time reference topic
• Removed transport hints to allow the driver to work with the nmea_serial_driver Python publisher and added ROS style indentation.
• Updated .gitignore with C++ version on GitHub
• Contributors: Valerio De Carolis, Vladimir Ermakov

1.0.2 (2015-01-24)

• Add example launch script.
• Add rosindex metadata.
• Contributors: Vladimir Ermakov

1.0.1 (2014-07-13)

• Rename package from ros2ntpd to ntpd_driver Add notes for chrony.
• Contributors: Vladimir Ermakov

1.0.0 (2014-06-28)

• Update readme
• Add readme
• Update shmTime struct to latest version. Fix: change leap=0 will fix ntpd receive.
• Initial
• Contributors: Vladimir Ermakov