Use Arduino Uno to simulate a GPS module, sending PPS pulse and GPRMC message to Lidar.

• Arduino Uno
• Velodyne Lidar VLP-16
• ROS 2 Foxy with VLP-16 driver https://github.com/ros-drivers

Make sure the parameter gps_time in yaml file is set to true to enable time sync.

• VLP-16 web interface

It is successfully synchronized if you see the coordinates of GPS Position and locked PPS status.

• VLP-16 ROS 2 timestamp

If the gps_time parameter is set, then you will see the time jump after time synchronized.

• GPRMC debug message

You can enable the debug messages in Arduino code to monitor the GPRMC.

If Arduino is connected to other device and the UART data is not readable, please consider to change the inverse_logic to false. https://github.com/Adlink-ROS/arduino_pps_gprmc_time_sync/blob/46b20be58a1bf732323bd96396a94d01cb6a8e1c/src/pps_gprmc_time_sync/pps_gprmc_time_sync.ino#L7