Livox PTP time sync on Raspberry Pi 4
How to sync Livox time when the computer doesn’t support hardware timestamp.
Background
Nowadays, we could see a lot of robots are running next to us and many self-driving cars are under development. The main tech underneath is the Lidar detection and high-definition maps built by Lidar. Normally, the small robots are using 2D Lidar like RPLidar to capture the information from a small environment. Like automated vehicles, they install the 3D Lidar such as Velodyne Lidar and Ouster Lidar, which could build detailed 3D digital environments and help vehicles to localize and avoid obstacles.
We could understand that the transitional lidar, like RPLidar, scan a 360 degrees plane. For multiple line lidar, it scans several planes, but the angles or offsets among the different planes are fixed. Several DJI launch Livox Lidar which uses the tech called non-repetitive scanning. It’s like there is a single laser point circling pointing to the surfaces of the obstacles with super quick circling speed. The circle is an ellipse actually and then covers the whole area after several scannings. The below image is showing how it works:
