fix ouster time

husarion · Oct 17, 2022 · a184a2c · a184a2c
1 parent 17703d0
commit a184a2c
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Showing 3 changed files with 3 additions and 11 deletions.
diff --git a/README.md b/README.md
@@ -2,21 +2,13 @@
 
 Dockerized Ouster LiDAR package from [ouster-lidar/ouster-ros](https://github.com/ouster-lidar/ouster-ros) repository.
 
-## Time synchronizing
-
-Before launching the Ouster ROS driver, the Precision Time Protocol (PTP) should be configured on the host computer.
-
-```bash
-sudo ptp4l -i eno1 -m [global] tx_timestamp_timeout 10
-```
-
 ## Running a Docker container
 
 ```bash
 docker run --rm -it \
   husarion/ouster:melodic \
   roslaunch ouster_ros sensor.launch \
-    timestamp_mode:=TIME_FROM_PTP_1588 \
+    timestamp_mode:=TIME_FROM_ROS_TIME \
     metadata:=/ouster_metadata.json \
     sensor_hostname:=10.15.20.5 \
     lidar_mode:=1024x20 
@@ -36,7 +28,7 @@ Connect Ouster LiDAR to the first computer and run:
 git clone https://github.com/husarion/ouster-docker.git
 cd ouster-docker/demo
 
-source ./config/setup_virtual_desktop.sh
+source ./setup_virtual_desktop.sh
 
 docker compose \
 -f compose.ouster.yaml \

diff --git a/demo/compose.ouster.yaml b/demo/compose.ouster.yaml
@@ -10,7 +10,7 @@ services:
       - ROS_MASTER_URI=http://10.15.20.2:11311
     command: >
       roslaunch ouster_ros sensor.launch
-        timestamp_mode:=TIME_FROM_PTP_1588
+        timestamp_mode:=TIME_FROM_ROS_TIME
         metadata:=/ouster_metadata.json
         viz:=false
         sensor_hostname:=10.15.20.5

diff --git a/demo/config/setup_virtual_desktop.sh → demo/setup_virtual_desktop.sh b/demo/config/setup_virtual_desktop.sh → demo/setup_virtual_desktop.sh