Stereo IMU OVC3

Sensor connection overview

The sensor acts as a network interface in the host computer. Upon connection, the OVC will create a new network interface and provide an IP to the host computer in the network 10.0.1.0/24 (for instance 10.0.1.2). Afterwards, the node will start streaming ROS topics to the main computer.

NTP Setup

The OVC3 expects an NTP server on the host side to synchronize its clock with the host. Thus, NTP should be set up in the Jetson/NUC. We will use chrony as our NTP server.

1. Install chrony apt install chrony.
2. Edit the chrony to allow connections from the OVC. Add at the end of /etc/chrony/chrony.conf:

   allow 10.0.1.1
   local stratum 8
   

   The local stratum 8 is needed so the OVC accepts the time synchronization even if the NUC is not connected to the internet.
3. Start the service systemctl start chrony and enable it to start automatically at boot systemctl enable chrony