PTP Time Synchronization¶
PTP synchronizes the sensor clock with other devices on a local network using the Precision Time Protocol. Use it for high-precision timestamp alignment when data from multiple sensors or other time-sensitive systems must be fused.
picoScan100: How to enable PTP for time synchronization?
Sensor settings¶
The sensor uses fixed IEEE 1588 PTPv2 End-to-End (E2E) settings. It operates as an ordinary clock receiving synchronization from a master. Step mode is detected automatically: software PTP uses one-step operation and hardware PTP uses two-step operation. Its clockClass is 255, indicating slave-only operation.
Master configuration¶
Configure the PTP grandmaster with settings compatible with the sensor:
| Parameter | Required value |
|---|---|
| PTP profile | IEEE 1588 PTPv2 E2E |
| Transport protocol | UDPv4 |
logAnnounceInterval |
1 (2 seconds) |
logSyncInterval |
0 (1 second) |
announceReceiptTimeout |
3 |
logMinDelayReqInterval |
0 (1 second) |
| Domain number | 0 |
Enable PTP in the sensor time-synchronization settings, then connect it to this compatible PTP grandmaster. All participating devices must use the same domain, and network infrastructure must forward PTP traffic correctly.
With native ROS 2, the device publishes its hardware PTP timestamp in each message header. See Native ROS 2 for the available topics.