Working when secrets manually entered in container

.gitignore

@@ -1,2 +1,3 @@
 licenses/**
 pkgs/exwayz_3d_mapping*
+tmp/**

README.md

@@ -1,2 +1,35 @@
-## Building with docker secrets
+# Build the docker image
-TODO: Figure out a safer way to include secrets in the docker file
+'''bash
+docker build -t exwayz_test:v1.0 -f exwayz_test.dockerfile .
+'''
+## TODO Building with docker secrets
+We need to improve our handling of secrets and figure out a safer way to include them in the docker file/image
+
+
+
+# To run the docker file:
+1. We need to enable the use of the display
+2. Share the volume with our current code so we can access it in the container
+3. start a shell 
+
+'''bash
+docker run -it \
+    --env="DISPLAY=$DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    -v "$(pwd):/app" \
+    exwayz_test
+'''
+
+
+Then, run the exways slam on a bag to test everything is workign correctly.
+'''bash 
+exwayz_slam --bag data/exwayz_sample_data_slam_01.bag --bag-hesai /hesai/pandar_packets --hesai-model PandarXT-32 --d-write 0.1 -o ./slam_session_tutorial --no-date
+'''
+Naturally, change the path to the bagfile for the parameter '--bag'
+
+Hopefully, you will see something like this:
+![Working Exwayz Demo¨¨](media/Exwayz_slam_demo_working.gif)
+
+# may have to:
+source /opt/ros/$ROS_DISTRO/setup.bash

exwayz_test.dockerfile

@@ -9,20 +9,35 @@ ARG TARGETARCH=amd64
 COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb /tmp/exwayz_amd64.deb
 COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
 
+#If debug, install the following:
+RUN apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils
+#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 
+
+# RUN --mount=type=secret,id=exwayz_license set -eux; \
+# 	if [ "${TARGETARCH}" = "aarch64" ]; then \
+# 		pkg=/tmp/exwayz_aarch64.deb; \
+# 	else \
+# 		pkg=/tmp/exwayz_amd64.deb; \
+# 	fi; \
+# 	apt-get update; \
+# 	apt-get install -fy "$pkg"; \
+# 	if [ -s /run/secrets/exwayz_license ]; then \
+# 		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+# 	fi; \
+# 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
+# 	rm -rf /var/lib/apt/lists/*
+
 RUN --mount=type=secret,id=exwayz_license set -eux; \
-	if [ "${TARGETARCH}" = "aarch64" ]; then \
-		pkg=/tmp/exwayz_aarch64.deb; \
-	else \
-		pkg=/tmp/exwayz_amd64.deb; \
-	fi; \
 	apt-get update; \
-	apt-get install -fy "$pkg"; \
+	apt-get install -fy /tmp/exwayz_amd64.deb; \
 	if [ -s /run/secrets/exwayz_license ]; then \
 		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+	else \
+		echo "No license file provided"; \
+		exit 1; \
 	fi; \
 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
 	rm -rf /var/lib/apt/lists/*
-
 # TODO verify license was applied successfully
 
 # Set entrypoint

notes.md

@@ -0,0 +1 @@
+## fixing broken s