ROS同期関連の便利コマンドmemo

chrony_setup

#!/bin/bash

function usage() {
cat <<_EOT_

Usage:
  $ ./chrony_setup [-0|-h] ntpserver_machine_ip

Description:
  他マシンと時間同期するようのbash

Options:
  -0	通常の状態に戻る
  -h	ヘルプ
	
Arguments:
　　ntpserver_machine_ip	NTPサーバのIP

_EOT_
exit 1
}

function comfirm() {
  echo ""
  echo "To comfirm synchronization: $ ntpdate -q $1"
  echo "To comfirm chrony settings: $ chronyc tracking"
  echo ""
}

if [ ! -e /etc/chrony/chrony.conf.default ]; then
  sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.default
fi

case "$1" in
"-0") 
  sudo rm /etc/chrony/chrony.conf
  sudo cp /etc/chrony/chrony.conf.default /etc/chrony/chrony.conf
  sudo /etc/init.d/chrony restart
  comfirm $1
  ;;    
"-h") 
  usage
  ;;
 *  )
  if [ "$#" = "1" ]; then
    sudo rm /etc/chrony/chrony.conf
    sudo cp /etc/chrony/chrony.conf.default /etc/chrony/chrony.conf
    sudo echo "server $1 minpoll 0 maxpoll 5 maxdelay .05" >> /etc/chrony/chrony.conf
    sudo /etc/init.d/chrony restart
    comfirm $1
  else
    echo "Try to enter the -h option." 
  fi
  ;;
esac

utils.bash

# http://wiki.ros.org/ROS/NetworkSetup#Timing_issues.2C_TF_complaining_about_extrapolation_into_the_future.3F

# 同期確認
ntpdate -q other_machine_ip

# chrony編集
sudo echo "server other_machine_ip minpoll 0 maxpoll 5 maxdelay .05" >> /etc/chrony/chrony.conf

# chronyスタート
sudo /etc/init.d/chrony stop
sudo ntpdate other_computer_ip
sudo /etc/init.d/chrony start

# chrony確認
chronyc tracking