简单需求
ROS下的多计算机通信需要时间同步，以笔记本A和工控机B为例，时间同步只需要一个向另一个看齐即可，这里我让B向A看齐，那么需要在笔记本上A安装ntp，用作时间同步的服务器：
sudo apt-get install ntp
然后在工控机B上安装ntpdate
sudo apt-get install ntpdate
装好后运行
sudo /usr/sbin/ntpdate -u 192.168.2.1（此ip是A的）
sudo /sbin/hwclock -w
这样就完成了两者的时间同步
进阶需求和测试
笔记本只是拿来测试用的，最终是两台工控机进行时间同步，工控机A有外网，B没有，AB之间网线连接通讯。开始用A做ntp的服务器，让B来和A通讯，
基本能够稳定跑。后续根据其它需求，B要做服务器，A要向B同步，问题就出现了，因为作为服务器的B没有外网连接，它会在同步时间的时候试图去同步
外网的服务器，得不到响应后就无法正常工作。所以要把B设置为局域网服务器server，让B始终以自己为标准，不用去访问外网获取时间了。由此需要修改
ntp的配置文件，让A/B有不同的工作模式。
在没有外网的服务器server配置如下：
sudo gedit /etc/ntp.conf
主要要做的修改如下：
#修改本机为服务器，127.127.1.0代表本机，stratum代表层级，设置服务器的初始层级为5
#这里本机ip用127.0.0.1似乎效果不好，可以都试试
server 127.127.1.0
fudge 127.127.1.0 stratum 5
#注释掉原有外网的server
#pool 0.ubuntu.pool.ntp.org iburst
#pool 1.ubuntu.pool.ntp.org iburst
#pool 2.ubuntu.pool.ntp.org iburst
#pool 3.ubuntu.pool.ntp.org iburst
#pool ntp.ubuntu.com
#给本地局域网的用户开放权限，后面啥也不加，表示开放所有权限
restrict 192.168.2.0 mask 255.255.255.0
#禁用认证功能，不知道有用没有，放不放都行
disable auth
配置好之后，重启ntp服务
service ntp restart
然后开始去配置客户端client，同样编辑ntp.conf文件,主要的修改如下：
#指定服务器的固定ip，并设为优先级prefer；如果找不到服务器，再用本地时间，本地时间的层级是8
server 192.168.2.100 prefer
server 127.127.1.0
fudge 127.127.1.0 stratum 8
#其它同上
同样需要重启一下，然后观察服务器链接状态，用
watch ntpq -p
好多文章没说watch，只说ntpq -p,一直提示找不到命令，无语了
运行得到的结果如下，*表示优先，可以看到st一栏的LOCAL是按照我们设置的值5和8在运行的，客户端在服务器的下一级，所以st增加了1。
这里有一个大坑，就是st可能会显示16,超出了正常0-15的范围，表示没有连通。错误no server suitable for synchronization found通常
也是由于这个原因造成的。这种情况需要耐心等5分钟，因为服务器重置后需要320s来重新配置之类的。
等服务器重启配置好后，就可以正常进行时间同步了。
on server:
remote refid st t when poll reach delay offset jitter
==============================================================================
*LOCAL(0) .LOCL. 5 l 125 64 377 0.000 0.000 0.000
on client:
remote refid st t when poll reach delay offset jitter
==============================================================================
*tegra-ubuntu-s2 LOCAL(0) 6 u 58 64 37 0.607 -0.443 0.548
LOCAL(0) .LOCL. 8 l 125 64 36 0.000 0.000 0.001
时间同步的命令如下：-d是debug模式，可以换成-u，ip是服务器的地址，根据自己情况修改就行
sudo /usr/sbin/ntpdate -d 192.168.2.100
references
server ntp.conf
# /etc/ntp.conf, configuration for ntpd; see ntp.conf(5) for help
driftfile /var/lib/ntp/ntp.drift
# Enable this if you want statistics to be logged.
#statsdir /var/log/ntpstats/
statistics loopstats peerstats clockstats
filegen loopstats file loopstats type day enable
filegen peerstats file peerstats type day enable
filegen clockstats file clockstats type day enable
# Specify one or more NTP servers.
#server 192.168.2.100
server 127.127.1.0
fudge 127.127.1.0 stratum 5
# Use servers from the NTP Pool Project. Approved by Ubuntu Technical Board
# on 2011-02-08 (LP: #104525). See http://www.pool.ntp.org/join.html for
# more information.
#pool 0.ubuntu.pool.ntp.org iburst
#pool 1.ubuntu.pool.ntp.org iburst
#pool 2.ubuntu.pool.ntp.org iburst
#pool 3.ubuntu.pool.ntp.org iburst
# Use Ubuntu's ntp server as a fallback.
#pool ntp.ubuntu.com
# Access control configuration; see /usr/share/doc/ntp-doc/html/accopt.html for
# details. The web page <http://support.ntp.org/bin/view/Support/AccessRestrictions>
# might also be helpful.
#
# Note that "restrict" applies to both servers and clients, so a configuration
# that might be intended to block requests from certain clients could also end
# up blocking replies from your own upstream servers.
# By default, exchange time with everybody, but don't allow configuration.
restrict -4 default kod notrap nomodify nopeer noquery limited
restrict -6 default kod notrap nomodify nopeer noquery limited
# Local users may interrogate the ntp server more closely.
restrict 127.0.0.1
restrict ::1
# Needed for adding pool entries
restrict source notrap nomodify noquery
# Clients from this (example!) subnet have unlimited access, but only if
# cryptographically authenticated.
restrict 192.168.2.0 mask 255.255.255.0
# If you want to provide time to your local subnet, change the next line.
# (Again, the address is an example only.)
#broadcast 192.168.2.255
# If you want to listen to time broadcasts on your local subnet, de-comment the
# next lines. Please do this only if you trust everybody on the network!
#disable auth
#broadcastclient
#Changes recquired to use pps synchonisation as explained in documentation:
#http://www.ntp.org/ntpfaq/NTP-s-config-adv.htm#AEN3918
#server 127.127.8.1 mode 135 prefer # Meinberg GPS167 with PPS
#fudge 127.127.8.1 time1 0.0042 # relative to PPS for my hardware
#server 127.127.22.1 # ATOM(PPS)
#fudge 127.127.22.1 flag3 1 # enable PPS API
disable auth
client ntp.conf
# /etc/ntp.conf, configuration for ntpd; see ntp.conf(5) for help
driftfile /var/lib/ntp/ntp.drift
# Enable this if you want statistics to be logged.
#statsdir /var/log/ntpstats/
statistics loopstats peerstats clockstats
filegen loopstats file loopstats type day enable
filegen peerstats file peerstats type day enable
filegen clockstats file clockstats type day enable
# Specify one or more NTP servers.
server 192.168.2.100 prefer
server 127.127.1.0
fudge 127.127.1.0 stratum 8
# Use servers from the NTP Pool Project. Approved by Ubuntu Technical Board
# on 2011-02-08 (LP: #104525). See http://www.pool.ntp.org/join.html for
# more information.
#pool 0.ubuntu.pool.ntp.org iburst
#pool 1.ubuntu.pool.ntp.org iburst
#pool 2.ubuntu.pool.ntp.org iburst
#pool 3.ubuntu.pool.ntp.org iburst
# Use Ubuntu's ntp server as a fallback.
#pool ntp.ubuntu.com
# Access control configuration; see /usr/share/doc/ntp-doc/html/accopt.html for
# details. The web page <http://support.ntp.org/bin/view/Support/AccessRestrictions>
# might also be helpful.
#
# Note that "restrict" applies to both servers and clients, so a configuration
# that might be intended to block requests from certain clients could also end
# up blocking replies from your own upstream servers.
# By default, exchange time with everybody, but don't allow configuration.
restrict -4 default kod notrap nomodify nopeer noquery limited
restrict -6 default kod notrap nomodify nopeer noquery limited
# Local users may interrogate the ntp server more closely.
restrict 127.0.0.1
restrict ::1
# Needed for adding pool entries
restrict source notrap nomodify noquery
# Clients from this (example!) subnet have unlimited access, but only if
# cryptographically authenticated.
restrict 192.168.2.0 mask 255.255.255.0
# If you want to provide time to your local subnet, change the next line.
# (Again, the address is an example only.)
#broadcast 192.168.123.255
# If you want to listen to time broadcasts on your local subnet, de-comment the
# next lines. Please do this only if you trust everybody on the network!
#disable auth
#broadcastclient
#Changes recquired to use pps synchonisation as explained in documentation:
#http://www.ntp.org/ntpfaq/NTP-s-config-adv.htm#AEN3918
#server 127.127.8.1 mode 135 prefer # Meinberg GPS167 with PPS
#fudge 127.127.8.1 time1 0.0042 # relative to PPS for my hardware
#server 127.127.22.1 # ATOM(PPS)
#fudge 127.127.22.1 flag3 1 # enable PPS API
disable auth
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