Timesync in MicroDDS

[Benja]

Hi @Mzahana
Please see this:

Explanation TimeSync with ROS2 and XRCE-DDS bridge

Hi @Toto , time synchronization is automatically managed by the XRCE-DDS bridge. estimated_offset compares the time difference (in microseconds) between PX4 and the clock on the agent side (pay attention that this is the wall clock, not the ROS clock. These two are normally the same as long as the ROS 2 parameter use_sim_time is false). So let’s assume that you have use_sim_time=false. The PX4 clock starts counting and is resetted when you power up the board. The Jetson instead is using unix …