KIT-ISAS/lili-om

[Question] How did you time synchronise the IMU & Lidar?

seajayshore opened this issue · 5 comments

seajayshore commented

Sorry if this is written somewhere and I just didn’t see.

How are you achieving good synchronisation between the IMU data & Lidar?
A PPS output from the IMU? Do you use GPS clock source?

kailaili commented

Hi, we used PTP for the synchronization. One possible solution can be found here: https://github.com/ptpd/ptpd

seajayshore commented

Ah, but PTP makes sense for the Lidar & system.
But the MTI-670 IMU has no PTP capability right? How did you synchronise data from the IMU?

kailaili commented

The IMU data is synchronized using the GPS channel onboard

seajayshore commented

Great, thanks for confirming! :-)

asteppke commented

A quick follow-up on the same topic: the Livox Lidar has different synchronization options, here PTP can be used to synchronize Lidar <-> PC clock. The MTI-670 IMU uses a GPS receiver on the development board, which allows to synchronize IMU <-> GPS.

How is the remaining synchronization between PC clock <-> IMU/GPS achieved?
Thank you for any insights.