Using PTP with 2 Nvidia Drive Orin AGX's for Lidar recording

Software
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Hello Ouster! 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
1 Linux Ubuntu 20.04 laptop for configuring the lidar via their dashboards

The Orins are each connected to the external ethernet switch via RJ45 port J13 (aka 1Gb ethernet). 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 plan to set Orin1 as a master for PTP so that Orin2 and the 3 lidar can be synchronized with PTP.

My question is:

If I simply configure one of the Orins as a PTP master clock, should the lidar automatically be able to work with the master Orin’s timing as long as the ethernet port that it’s using is configured correctly? If everything is connected via gigabit ethernet connections to a gigabit ethernet switch, and I can configure the lidar to accept PTP using the dashboard, shouldn’t the lidar accept the master Orin’s timing right away…?

And if this has any known documentation (I already know the PTP quickstart guide) I would greatly appreciate some links to them!

Thank you!

2

If everything is connected via gigabit ethernet connections to a gigabit ethernet switch, and I can configure the lidar to accept PTP using the dashboard, shouldn’t the lidar accept the master Orin’s timing right away…?

It should, however, assuming you have configured all sensors to work with PTP there might be a delay until the sensors adjust their clock to match the PTP master time.

Re-powering the sensors would allow them to re-adjust immediately, switching the UDP profile forces the sensor to re-adjust immediately too.

Here are some additional links that you can consult: