Using PTP with 2 Drive Orin AGXs and multiple lidar

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other



Hello Nvidia! My current setup involves the following components:

2 Drive Orin AGXs
1 External 16-port ethernet switch
3 Ouster Lidar, 2 being OS1-64 and 1 being an OS2-128

The Orins are each connected to the external ethernet switch via RJ45 port J13. Each of the Ouster lidar are also connected to the external ethernet switch, so they’re all technically connected via ethernet. The OS1s are to record data to Orin1 and the OS2 is to record data to Orin2. I basically need Orin1 to be a master PTP clock so that Orin2 and the 3 lidar can be synchronized with PTP.

I was wondering if the methods used in this forum thread would do two things:

  1. Would it set Orin1 as the PTP master and the Orin2 as a slave simply as long as they are connected through the J13 ports? Or do I have to use a different physical configuration?

  2. Would this then make Orin2 and all three lidar to be slaves to Orin1, allowing me to record the OS1 data onto the Orin1 and the OS2 data onto the Orin2 using TIME_FROM_PTP_1588 for each lidar as done on this page by Ouster?

The main difference with their setup is that instead of a Linux PC being connected to the lidar it would be the Orin(s) through the external ethernet switch.

If these two things are correct, would I simply need to get the necessary packages (ptp4l, phc_ctl, timedatectl, any others?) installed on both Orins, and how would I go about doing that? Would I have to be wary of this PTP setup process with regards to altering any current configurations / SW on the Orins? And would it be possible to give me a step-by-step procedure or documentation on how to do all this in order?

One final thing. With this PTP configuration, would it interfere with a raspberry pi whose purpose is to use the “timesync.d” service to update the time of the Orins?

Thank you!




forum thread link (sorry html is new for me haha): How to enable IEEE1588 ptp on orin sdk - Jetson & Embedded Systems / Jetson AGX Orin - NVIDIA Developer Forums

Ouster PTP Quickstart link: PTP Quickstart Guide — Ouster Sensor Docs documentation

3

Dear @adas_1,
Just checking if possible, please move to recent release DRIVE OS 6.0.10(Install DRIVE OS 6.0.10.0 for NVIDIA Developer Users | NVIDIA Docs)

In the current setup does DW lidar replay sample(DriveWorks SDK Reference: Lidar Replay Sample) working?
I am checking on steps to PTP sync two orins and update you.

4

Hello Siva!

I don’t believe I am allowed to update the Orins’ OS version, but I’ll check.

Using the current setup I can record and replay lidar data of all my sensors (OS1s on the Orin1, OS2 on the Orin2) using lidar.custom for recording with the recorder tool and lidar.virtual using sample_lidar_replay for playback.

5

Thanks for confirming,
As I understand your case is to PTP sync the two lidars connected on different Orins. Please confirm my understanding

6

Yes exactly

7

Dear @adas_1
just checking, if you need only one of the orin to be master or external GM is also good for your case?

8

Hello again Siva!

Ideally only one of the Orins should be the master. I have been doing a lot of testing in the background to get my recording SW working and have a new question that I’d like to be prioritized. I’ll make a new topic shortly.