4.1.2 gPTP Wiring Connection
To initialize gPTP synchronization procedure, users need to prepare the following
devices and finish wiring connection according to the topology below:
1) a gPTP Grand Master (plug-and-play without additional configuration);
2) Ethernet switch;
3) Slave devices supporting gPTP (RS-LiDAR-M1 and others);
Figure 3：Topology of gPTP time synchronization
Note：
1. gPTP Grand Master device belongs to the third party, which is not included in our packing list.
Users need to purchase that by themselves in advance;
2. As a Slave terminal, RS-LiDAR-M1 only obtains the time from gPTP Grand Master device with no
hesitation about the accuracy of the master clock by principle. If the timestamp of LiDAR point cloud
deviates from the real-time, please check whether gPTP Grand Master clock is accurate;
3. When time synchronization has been run on RS-LiDAR-M1, in case that the gPTP Grand Master
is disconnected suddenly, the time stamp of LiDAR data packet will continue to stack according to LiDAR
internal clock. The time of RS-LiDAR-M1 will not be reset until powered off and restarted.
4.2 Use Linuxptp tool to verify time synchronization
Please connect RS-LiDAR-M1 power cable and network cable to the Interface Box,
and then to Host Computer. The Host Computer operating system (OS) must be Linux.
We take Ubuntu as an example below:
1. Use the command $ifconfig to check the network card name. The name of the network
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