Merge branch 'ntp' of https://github.com/canopy-ros/canopy_client int…

…o ntp

README.md

@@ -2,25 +2,52 @@
 This is the ROS node for the client-side application of Canopy.
 
 ## Installation
-See the [Canopy docs](http://canopy-docs.readthedocs.io/en/latest/client-docs.html#installation). 
+```
+cd <YOUR CATKIN WORKSPACE>/src
+git clone https://github.com/baalexander/rospy_message_converter
+git clone https://github.com/canopy-ros/canopy_client
+cd canopy_client
+. ./canopy_client_install.sh
+```
 
 ## Clock Synchronization
 This section describes the _client-side_ instructions for synchronizing the clocks of your Canopy clients and the Canopy server using `chrony`. 
 
-Install chrony and copy the configuration file to `/etc/chrony`:
-```
-sudo apt-get install chrony
-sudo cp chrony_canopy_client.conf /etc/chrony
-```
-
+### Setting up chrony
 Modify the chrony configuration file `/etc/chrony/chrony_canopy_client.conf` to reflect your Canopy server's IP address:
 ```
 # /etc/chrony/chrony_canopy_client.conf
 server 128.31.37.168
 ...
 ```
+Disable and stop the default chrony service:
+```
+sudo systemctl stop chrony
+sudo systemctl disable chrony
+```
+
+Enable and start the Canopy chrony service:
+```
+sudo systemctl enable chrony_canopy_client
+sudo systemctl start chrony_canopy_client
+```
+
+### Checking chrony setup
+To check whether the service is running correctly, run `systemctl status chrony_canopy_client` which should show an active running status:
+```
+chrony_canopy_client.service - chrony service for canopy client
+Loaded: loaded (/lib/systemd/system/chrony_canopy_client.service; static; vendor preset: enabled)
+Active: active (running)
+...
+```
 
-Restart chrony with this configuration file:
+To check whether the chrony daemon `chronyd` is working correctly, run `chronyc activity` which should return the following:
 ```
-sudo chronyd -f /etc/chrony/chrony_canopy_client.conf -r -s
+200 OK
+3 sources online
+0 sources offline
+0 sources doing burst (return to online)
+0 sources doing burst (return to offline)
+0 sources with unknown address
 ```
+If you see the message `506 Cannot talk to daemon`, then `chronyd` is not running properly.