NTP does not work H.1.2

[royito55]

• There is no way to sync the create3 to an NPT server or whatever the default configuration is in there.

• I've seen it work 2 out of 200 times probably, and I don't know the conditions for it to work properly.

• The Restart ntpd Beta Feature does nothing. After clicking it, I get this every single time:

Jun 28 11:12:25 iRobot- user.notice ntpd: Server 'ntpd' was stopped gracefully.
Jun 28 11:12:42 iRobot- user.notice ntpd: ntpd: timed out waiting for 162.159.200.123, reach 0x00, next query in 2s
Jun 28 11:12:42 iRobot- user.notice ntpd: ntpd: timed out waiting for 178.32.88.247, reach 0x00, next query in 2s
Jun 28 11:12:42 iRobot- user.notice ntpd: ntpd: timed out waiting for 178.215.228.24, reach 0x00, next query in 2s
Jun 28 11:12:42 iRobot- user.notice ntpd: ntpd: timed out waiting for 90.165.120.190, reach 0x00, next query in 2s
Jun 28 11:13:01 iRobot- user.notice ntpd: ntpd: timed out waiting for 2.59.235.35, reach 0x00, next query in 1s
Jun 28 11:13:01 iRobot- user.notice ntpd: ntpd: timed out waiting for 178.32.88.247, reach 0x00, next query in 2s
Jun 28 11:13:01 iRobot- user.notice ntpd: ntpd: timed out waiting for 89.140.186.3, reach 0x00, next query in 2s
Jun 28 11:13:01 iRobot- user.notice ntpd: ntpd: timed out waiting for 158.227.98.15, reach 0x00, next query in 1s

• I saw the fix tried here: https://iroboteducation.github.io/create3_docs/setup/compute-ntp/

It does not work either, because it is configuring the Create3 as the server, but it seems the server never starts correctly.

• I can't disconnect the create3 (workaround described here: tf transforms published by RPi and Create3 are not time synced turtlebot/turtlebot4_robot#8) from WiFi because I'm using CycloneDDS and I haven't found a way to see the topics coming from the create3 with a CycloneDDS config file. If anyone has managed this I'm all ears!

• I can't switch to Fast-DDS to disconnect the create3 because of the many issues involving nav2 (I've successfully ran it in CycloneDDS countless times) described here:
  Unhandled Terminate w/ Services Over Wifi Network ros2/ros2#1253
  Fast-DDS Service Reliability sometimes hangs lifecycle manager  ros-navigation/navigation2#3033

• I tried Turtlebot4's chrony.conf but it didn't work for the same reason as all the above: https://github.com/turtlebot/turtlebot4_setup/blob/galactic/conf/chrony.conf

• Also tried this workaround but didn't work: USB Network Not Being Polled for NTP #401

Hopefully the user will have more "configuration power" and not have the create3 be a black box that prevents it from working unless it is in very simple setups.

PS I forgot to mention, I don't think it's a firewall issue either, I tried pinging those addresses that ntpd can't find from another machine in the same network and it arrives no problem.

[royito55]

I found that for this case, the best "solution" is to factory reset the create3

[shamlian]

Not sure what to say here except that the log snippet you posted does indeed show the NTP daemon restarting.

You will find that we have just released G.5.1 / H.2.1 which allows direct configuration of ntp.conf; please feel free to reconfigure the daemon as you please, and let us know when you find a configuration which works in your particular use case.

[shamlian]

In case it helps: Clearpath has an example ntp.conf for the Turtlebot 4 use case; perhaps this can help with yours. turtlebot/turtlebot4#216

[shamlian]

Checking in again -- users have had some success with this -- see #401 . Would be curious to know if this solves your problem as well.

[shamlian]

Checking in one last time before I close this "cannot reproduce."