PTP syncronization with multiple cameras

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Hello,

the Basler documentation provide detailed information on how to synchronize multiple cameras using the PTP protocol, but the problem is that I cannot find the way to match does information for the Pylon ROS Driver.

I already have a network with a master clock and I enabled, through the Pylon Software Suite, the PTP clock synchronization for both cameras (as mentioned here).

What I am doing right now is running two different Pylon nodes specific to a singular camera and looking at the header of their topic in order to understand if the time stamp of the two cameras coincides.

Because this is not a professional way to check their synchronization and it doesn't give me the prove that they are really synchronized I would like:

• to know if there is a way to understand if the cameras are really synchronized with the master clock
• or to know how to synchronize them using the Pylon ROS driver.

All of this, if possible, only by using the Pylon ROS driver.

Thank you,

Alessandro

My mentioned strategy:

$ rostopic echo /ros_camera_0/image_raw/header

...
---
seq: 23
stamp: 
secs: 1582203535
nsecs: 456908823
frame_id: "pylon_camera"
---
...

$ rostopic echo /ros_camera_1/image_raw/header

...
---
seq: 30
stamp: 
secs: 1582203535
nsecs: 467107745
frame_id: "pylon_camera"
---
...