openINS uses LCM to publish the navigation solution. The example initializes LCM and subscribes to the openINS navigation solution channel. Once correctly initialized, the example will wait for navigation solution messages to be received. As the messages arrive, the program will print the contents of the message. The source file (gss_openins_example_nav_solution.cpp) is documented and explains how the LCM subscribe system works with OpenINS.
Building gss_openins_example_nav_solution
To build the gss navigation solution example program:
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Open a command prompt, navigate to the gss_openins_example_nav_solution folder, and type:
g++ -o gss_openins_example_nav_solution
./src/gss_openins_example_nav_solution.cpp -I./src/ -llcm -
The example is now ready to run.
Running gss_openins_example_nav_solution
To run the example, type at the command prompt:
./gss_openins_example_nav_solution
