Synchronization of the SBG unit

[yulan0215]

Hi:

I am sorry that I have a question for the synchronization of the SBG unit ROS msg.

The is the time_ reference and synchronization instruction:

However, I did not get it, if I set the:

Time reference:

time_reference: "ins_unix"

Then all the header time from SBG unit will use UTC time? Is it correct?
However, I have alreay set like the aboved-mentioned but it seems to be that the header time is still come from ROS environment.

Do you have any idea about the synchronization? Thx

[benmakka]

Hello @yulan0215, if you want to change any setting using ROS, you'll need to enable the "configWithRos" parameter in the same file to enable configuration changes through ROS. Can you confirm whether it's already set to "true" on your end?