GPS time sync PPS+RMC, possible?

[TokyoWarfare]

Hello.

I'm evaluating an upgrade of my Livox Horizon towards a Hesai product. I've seen a couple of interesting products. ATX & AT128 /360 ones like XT & pandar 128.

My doubt comes wether the ROS can sync the point cloud using RMC time coming from the GPS, and have it corrected using PPS as in the Livox ROS.

As far as I understand theese lidars do not have IMU hence since I use Septentrio GNSS solution I would add a Septentrio INS but theese do not work with PTP with Septentrio's ROS driver, hence I would need a RMC + PPS sync solution to have all system timesinced and be able to world possition them in the SLAM to get a geolocated map.

Very interesting product line overall.

Cheers.

[TokyoWarfare]

Ok! public manuals for the AT 128 where outdated and the port had "reserved use" like caption, but the connection box works exactly like "livox converter 2.0"

GNSS-PPS sync is explained here!:
https://hesaitechnology.github.io/dev/docs/how_to_guides/gps_sync/

[changxingshuo]

Pandar 128 supports IMU output; other models do not.
PPS-based calibration is not currently supported in SDK.

[TokyoWarfare]

OK! I was not aware that the Pandar 128 had built in IMU!. I've aquired a NovAtel GNSS-INS to pair with the pandar. I'll compare SLAM with the built in and the external IMU to compare ressults. Can´t wait.

I'm a bit confused about the PPS comment. The lidar seems to accept PPS. I guess the clock sync occurs withing the lidar and you mean it does not rely on the computer for the PPS timesync of the cloud timestamp.