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.gitignore
vendored
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licenses/**
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licenses/**
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pkgs/exwayz_3d_mapping*
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pkgs/exwayz_3d_mapping*
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tmp/**
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tmp/**
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138
README.md
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README.md
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# **Project Overview**
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# **Project Overview**
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This repository contains the container and supporting files used by the LENA autonomous vehicle project. It packages the Exwayz 3D Mapping / SLAM executables into a Docker image that can run as part of the vehicle microservices stack.
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This repository contains the container and supporting files used by the LENA autonomous vehicle project. It packages the Exwayz 3D Mapping / SLAM executables into a Docker image that can run as part of the vehicle microservices stack.
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**Repository Contents**
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**Repository Contents**
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- **`exwayz_test.dockerfile`**: Dockerfile used to build the container image for testing and integration.
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- **`exwayz_test.dockerfile`**: Dockerfile used to build the container image for testing and integration.
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- **`src/**`: all code that we have written which runs on the container.
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- **`src/**`: all code that we have written which runs on the container.
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- **`tmp/data/`**: sample data including `exwayz_sample_data_slam_01.bag` used for demonstrations and tests. Download this from the link to their google drive on [the Exwayz docs site](https://exwayz.notion.site/Exwayz-3D-Mapping-v1-latest-1ea57c917367810ea1e9f8bf83e2e9d4)
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- **`tmp/data/`**: sample data including `exwayz_sample_data_slam_01.bag` used for demonstrations and tests. Download this from the link to their google drive on [the Exwayz docs site](https://exwayz.notion.site/Exwayz-3D-Mapping-v1-latest-1ea57c917367810ea1e9f8bf83e2e9d4)
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- **`media/`**: screenshots and demos (GIFs) used in documentation.
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- **`media/`**: screenshots and demos (GIFs) used in documentation.
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- **`licenses/`**: licensing information for included components.
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- **`licenses/`**: licensing information for included components.
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**Contributing**
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**Contributing**
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Please open issues or PRs for fixes and improvements. If you work on vehicle deployment or CI, include small, testable changes and document any required secrets or hardware assumptions.
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Please open issues or PRs for fixes and improvements. If you work on vehicle deployment or CI, include small, testable changes and document any required secrets or hardware assumptions.
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# **Quick Start**
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# **Quick Start**
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Build the image (from the repository root):
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Build the image (from the repository root):
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```powershell
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```powershell
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docker build -f exwayz_test.dockerfile -t exwayz_test:latest .
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docker build -f exwayz_test.dockerfile -t exwayz_test:latest .
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```
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```
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Run the container (example; adjust mounts and environment for your platform):
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Run the container (example; adjust mounts and environment for your platform):
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```powershell
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```powershell
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# Example (WSL on systems with X11 forwarding available)
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# Example (WSL on systems with X11 forwarding available)
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docker run -it --rm \
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docker run -it --rm \
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--env="DISPLAY=$DISPLAY" \
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--env="DISPLAY=$DISPLAY" \
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--env="QT_X11_NO_MITSHM=1" \
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--env="QT_X11_NO_MITSHM=1" \
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--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
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--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
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-v "${PWD}:/app" \
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-v "${PWD}:/app" \
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exwayz_test:latest \
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exwayz_test:latest \
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/bin/bash
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/bin/bash
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```
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```
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On POSIX shells use `$DISPLAY` and `$(pwd)` as usual.
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On POSIX shells use `$DISPLAY` and `$(pwd)` as usual.
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Run the Exwayz SLAM pipeline against the sample bag inside the container (example):
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Run the Exwayz SLAM pipeline against the sample bag inside the container (example):
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```bash
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```bash
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exwayz_slam --bag tmp/data/exwayz_sample_data_slam_01.bag \
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exwayz_slam --bag tmp/data/exwayz_sample_data_slam_01.bag \
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--bag-hesai /hesai/pandar_packets \
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--bag-hesai /hesai/pandar_packets \
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--hesai-model PandarXT-32 \
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--hesai-model PandarXT-32 \
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--d-write 0.1 -o ./slam_session_tutorial --no-date
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--d-write 0.1 -o ./slam_session_tutorial --no-date
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```
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```
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Adjust paths and model names to match your sensor and bag file layout.
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Adjust paths and model names to match your sensor and bag file layout.
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You should see something like this:
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You should see something like this:
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# **Status**
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# **Status**
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- Docker image: mostly working for local testing.
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- Docker image: mostly working for local testing.
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- Secrets: currently not included in the image; build-time and runtime secrets need secure handling (see TODOs).
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- Secrets: currently not included in the image; build-time and runtime secrets need secure handling (see TODOs).
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- Target: this repo should evolve into the deploy-and-run repo for vehicle microservices.
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- Target: this repo should evolve into the deploy-and-run repo for vehicle microservices.
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# **Todos**
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# **Todos**
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- [x] **Prototype Docker Image**: Get a prototype docker image working and run their demos.
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- [x] **Prototype Docker Image**: Get a prototype docker image working and run their demos.
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- [x] **Refine README**: polish documentation and examples (in progress).
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- [x] **Refine README**: polish documentation and examples (in progress).
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- [ ] **Fix Cross Compiling**: Cross compiling failing for aarch64.
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- [ ] **Fix Cross Compiling**: Cross compiling failing for aarch64.
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- [ ] **Secrets Handling**: implement secure secret injection for builds and runtime (Docker BuildKit, secret manager, or CI secrets).
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- [ ] **Secrets Handling**: implement secure secret injection for builds and runtime (Docker BuildKit, secret manager, or CI secrets).
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- [ ] **Standardized Scripts**: add `build_image.ps1` and `run_container.ps1` (and POSIX equivalents) to standardize workflows.
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- [ ] **Standardized Scripts**: add `build_image.ps1` and `run_container.ps1` (and POSIX equivalents) to standardize workflows.
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- [ ] **CI Build**: add GitHub Actions workflow equivalent to Gitea to build (and optionally scan) images on push/PR.
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- [ ] **CI Build**: add GitHub Actions workflow equivalent to Gitea to build (and optionally scan) images on push/PR.
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- [ ] **Vehicle Deployment Guide**: document runtime flags, service templates, and health-checks for deployment on the vehicle.
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- [ ] **Vehicle Deployment Guide**: document runtime flags, service templates, and health-checks for deployment on the vehicle.
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- [ ] **Integration Test**: add tests that run the pipeline against `tmp/data/exwayz_sample_data_slam_01.bag` to detect regressions.
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- [ ] **Integration Test**: add tests that run the pipeline against `tmp/data/exwayz_sample_data_slam_01.bag` to detect regressions.
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# syntax=docker/dockerfile:1.3
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# syntax=docker/dockerfile:1.3
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FROM ros:jazzy-ros-core
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FROM ros:jazzy-ros-core
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# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
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# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
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# Default to amd64 when not provided.
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# Default to amd64 when not provided.
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ARG TARGETARCH=amd64
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ARG TARGETARCH=amd64
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ARG GRAPICAL_ENV=TRUE
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ARG GRAPICAL_ENV=TRUE
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# Copy both architecture-specific packages into the image and choose the right one at build time
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# Copy both architecture-specific packages into the image and choose the right one at build time
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COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb /tmp/exwayz_amd64.deb
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COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb /tmp/exwayz_amd64.deb
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COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
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COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
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# Install dependencies and setup for GUI applications
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# Install dependencies and setup for GUI applications
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ENV DISPLAY=:0
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ENV DISPLAY=:0
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ENV WAYLAND_DISPLAY=wayland-0
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ENV WAYLAND_DISPLAY=wayland-0
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ENV XDG_SESSION_TYPE=x11
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ENV XDG_SESSION_TYPE=x11
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ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
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ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
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#If debug, install the following:
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#If debug, install the following:
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RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
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RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
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apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
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apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
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fi
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fi
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#TODO we're installing unneccessary things like the humanity-icons package, clean this up later.
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#TODO we're installing unneccessary things like the humanity-icons package, clean this up later.
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# RUN --mount=type=secret,id=exwayz_license set -eux; \
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# RUN --mount=type=secret,id=exwayz_license set -eux; \
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# if [ "${TARGETARCH}" = "aarch64" ]; then \
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# if [ "${TARGETARCH}" = "aarch64" ]; then \
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# pkg=/tmp/exwayz_aarch64.deb; \
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# pkg=/tmp/exwayz_aarch64.deb; \
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# else \
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# else \
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# pkg=/tmp/exwayz_amd64.deb; \
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# pkg=/tmp/exwayz_amd64.deb; \
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# fi; \
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# fi; \
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# apt-get update; \
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# apt-get update; \
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# apt-get install -fy "$pkg"; \
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# apt-get install -fy "$pkg"; \
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# if [ -s /run/secrets/exwayz_license ]; then \
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# if [ -s /run/secrets/exwayz_license ]; then \
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# exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
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# exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
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# fi; \
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# fi; \
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# rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
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# rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
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# rm -rf /var/lib/apt/lists/*
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# rm -rf /var/lib/apt/lists/*
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COPY licenses/exwayz_liscence.lic /tmp/exwayz_license
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COPY licenses/exwayz_liscence.lic /tmp/exwayz_license
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RUN set -eux; \
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RUN set -eux; \
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apt-get update; \
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apt-get update; \
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apt-get install -fy /tmp/exwayz_amd64.deb; \
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apt-get install -fy /tmp/exwayz_amd64.deb; \
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if [ -f /tmp/exwayz_license ]; then \
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if [ -f /tmp/exwayz_license ]; then \
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exwayz_license --query "$(cat /tmp/exwayz_license)" || true; \
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exwayz_license --query "$(cat /tmp/exwayz_license)" || true; \
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else \
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else \
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echo "No license file provided"; \
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echo "No license file provided"; \
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exit 1; \
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exit 1; \
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fi; \
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fi; \
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rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
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rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
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rm -f /tmp/exwayz_license; \
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rm -f /tmp/exwayz_license; \
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rm -rf /var/lib/apt/lists/*
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rm -rf /var/lib/apt/lists/*
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# # Change the working directory to /app
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# # Change the working directory to /app
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# WORKDIR /app
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# WORKDIR /app
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# Set entrypoint
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# Set entrypoint
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ENTRYPOINT ["/ros_entrypoint.sh"]
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ENTRYPOINT ["/ros_entrypoint.sh"]
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32
notes.md
32
notes.md
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## Secrets
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## Secrets
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Secrets currently not working.
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Secrets currently not working.
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I ran the liscencing script inside the container manually and all worked as expected.
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I ran the liscencing script inside the container manually and all worked as expected.
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Need to debug and see how we can do this on build.
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Need to debug and see how we can do this on build.
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## Data
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## Data
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Pulled data from the Exwayz demo on notion's [drive link](https://drive.google.com/drive/folders/1oC_iTZT5e3NsNjVr1Tsyn-uNB1uE5P68).
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Pulled data from the Exwayz demo on notion's [drive link](https://drive.google.com/drive/folders/1oC_iTZT5e3NsNjVr1Tsyn-uNB1uE5P68).
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Placed it here: `tmp\data\exwayz_sample_data_slam_01.bag`
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Placed it here: `tmp\data\exwayz_sample_data_slam_01.bag`
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When running demo with this repo mounted at `/app` it seems to have worked well.
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When running demo with this repo mounted at `/app` it seems to have worked well.
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Had a full successful run. See [gif](media\Exwayz_slam_demo_working.gif).
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Had a full successful run. See [gif](media\Exwayz_slam_demo_working.gif).
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## Cross arch compatibility
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## Cross arch compatibility
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Started working on cross arch compat. Builds for `aarch64` taking much longer as expected.
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Started working on cross arch compat. Builds for `aarch64` taking much longer as expected.
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But failing... not as expected.
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But failing... not as expected.
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@@ -1,12 +1,12 @@
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This is where you want to put the packages from Exwayz.
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This is where you want to put the packages from Exwayz.
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Download them from the latest relaease on [Exwayz 3D Mapping releases](https://exwayz.notion.site/Exwayz-3D-Mapping-releases-19057c917367807bb19de8007c4243cc)
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Download them from the latest relaease on [Exwayz 3D Mapping releases](https://exwayz.notion.site/Exwayz-3D-Mapping-releases-19057c917367807bb19de8007c4243cc)
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Alternatively, if these links still work you need:
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Alternatively, if these links still work you need:
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### Linux (Ubuntu 24.04)
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### Linux (Ubuntu 24.04)
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**x86_64:** [exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb](https://exwayz-releases.s3.eu-west-3.amazonaws.com/1.2.2/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAYS2NSS62CY7QV437%2F20260103%2Feu-west-3%2Fs3%2Faws4_request&X-Amz-Date=20260103T021624Z&X-Amz-Expires=604800&X-Amz-SignedHeaders=host&X-Amz-Signature=f6fba24ace0a163eafbebed4a0a0d19949f8e5c384222d32d440de0fd2df4209
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**x86_64:** [exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb](https://exwayz-releases.s3.eu-west-3.amazonaws.com/1.2.2/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAYS2NSS62CY7QV437%2F20260103%2Feu-west-3%2Fs3%2Faws4_request&X-Amz-Date=20260103T021624Z&X-Amz-Expires=604800&X-Amz-SignedHeaders=host&X-Amz-Signature=f6fba24ace0a163eafbebed4a0a0d19949f8e5c384222d32d440de0fd2df4209
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)
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)
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**ARMv8:** [exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb](https://exwayz-releases.s3.eu-west-3.amazonaws.com/1.2.2/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAYS2NSS62CY7QV437%2F20260103%2Feu-west-3%2Fs3%2Faws4_request&X-Amz-Date=20260103T021622Z&X-Amz-Expires=604800&X-Amz-SignedHeaders=host&X-Amz-Signature=d051d59e1339001affde1527ceace4d4f851348f4a5ff40b96e86bbb1b4c29bc
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**ARMv8:** [exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb](https://exwayz-releases.s3.eu-west-3.amazonaws.com/1.2.2/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAYS2NSS62CY7QV437%2F20260103%2Feu-west-3%2Fs3%2Faws4_request&X-Amz-Date=20260103T021622Z&X-Amz-Expires=604800&X-Amz-SignedHeaders=host&X-Amz-Signature=d051d59e1339001affde1527ceace4d4f851348f4a5ff40b96e86bbb1b4c29bc
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)
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)
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Reference in New Issue
Block a user