Failing to establish time-sync

[ryan-roche]

When running the driver using the provided launchfile, I'm getting a bunch of errors like this, and none of the cameras working through the driver.

[state_publisher_node-5] [ERROR] [1732218111.989386028] [state_publisher]: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[state_publisher_node-5] [ERROR] [1732218112.009387522] [state_publisher]: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_ros2-1] [INFO] [1732218112.585374652] [spot_ros2]: Found estop!
[spot_ros2-1] [INFO] [1732218112.790193254] [spot_ros2]: Driver successfully started!
[spot_image_publisher_node-7] [ERROR] [1732218113.065252920] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218115.899176041] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218120.097876132] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218127.657682809] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218131.367276749] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218133.961987812] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218136.771661132] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218139.077671862] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.
[spot_image_publisher_node-7] [ERROR] [1732218141.378089807] [image_publisher]: Failed to get images: Failed to get latest clock skew: Time sync not yet established between Spot and the local system.

[khughes-bdai]

How are you connected to your robot? I have also experienced this issue when running the driver over WiFi, and running over Ethernet seems to make it easier for the robot to establish time sync (if that is an option with your setup). Sometimes re-running the driver can also solve it. Unfortunately the spot-sdk will now allow you to get images until successful time sync is achieved so that is where this error message is coming from.