update untracked files

.gitignore

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

README.md

@@ -1,35 +1,69 @@
-# Build the docker image
+# **Project Overview**
-'''bash
+
-docker build -t exwayz_test:v1.0 -f exwayz_test.dockerfile .
+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.
-'''
+
-## TODO Building with docker secrets
+**Repository Contents**
-We need to improve our handling of secrets and figure out a safer way to include them in the docker file/image
+
-
+- **`exwayz_test.dockerfile`**: Dockerfile used to build the container image for testing and integration.
-
+- **`src/**`: all code that we have written which runs on the container.
-
+- **`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)
-# To run the docker file:
+- **`media/`**: screenshots and demos (GIFs) used in documentation.
-1. We need to enable the use of the display
+- **`licenses/`**: licensing information for included components.
-2. Share the volume with our current code so we can access it in the container
+
-3. start a shell 
+**Contributing**
-
+
-'''bash
+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.
-docker run -it \
+
-    --env="DISPLAY=$DISPLAY" \
+
-    --env="QT_X11_NO_MITSHM=1" \
+# **Quick Start**
-    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+
-    -v "$(pwd):/app" \
+Build the image (from the repository root):
-    exwayz_test
+
-'''
+```powershell
-
+docker build -f exwayz_test.dockerfile -t exwayz_test:latest .
-
+```
-Then, run the exways slam on a bag to test everything is workign correctly.
+
-'''bash 
+Run the container (example; adjust mounts and environment for your platform):
-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
+
-'''
+```powershell
-Naturally, change the path to the bagfile for the parameter '--bag'
+# Example (WSL on systems with X11 forwarding available)
-
+docker run -it --rm \
-Hopefully, you will see something like this:
+    --env="DISPLAY=$DISPLAY" \
-![Working Exwayz Demo¨¨](media/Exwayz_slam_demo_working.gif)
+    --env="QT_X11_NO_MITSHM=1" \
-
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
-# may have to:
+    -v "${PWD}:/app" \
-source /opt/ros/$ROS_DISTRO/setup.bash
+    exwayz_test:latest \
+    /bin/bash
+```
+
+On POSIX shells use `$DISPLAY` and `$(pwd)` as usual.
+
+Run the Exwayz SLAM pipeline against the sample bag inside the container (example):
+
+```bash
+exwayz_slam --bag tmp/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
+```
+
+Adjust paths and model names to match your sensor and bag file layout.
+
+You should see something like this:  
+![Gif of demo](media\Exwayz_slam_demo_working.gif)
+
+# **Status**
+
+- Docker image: mostly working for local testing.
+- Secrets: currently not included in the image; build-time and runtime secrets need secure handling (see TODOs).
+- Target: this repo should evolve into the deploy-and-run repo for vehicle microservices.
+
+# **Todos**
+- [x] **Prototype Docker Image**: Get a prototype docker image working and run their demos.
+- [x] **Refine README**: polish documentation and examples (in progress).
+- [ ] **Fix Cross Compiling**: Cross compiling failing for aarch64.
+- [ ] **Secrets Handling**: implement secure secret injection for builds and runtime (Docker BuildKit, secret manager, or CI secrets).
+- [ ] **Standardized Scripts**: add `build_image.ps1` and `run_container.ps1` (and POSIX equivalents) to standardize workflows.
+- [ ] **CI Build**: add GitHub Actions workflow equivalent to Gitea to build (and optionally scan) images on push/PR.
+- [ ] **Vehicle Deployment Guide**: document runtime flags, service templates, and health-checks for deployment on the vehicle.
+- [ ] **Integration Test**: add tests that run the pipeline against `tmp/data/exwayz_sample_data_slam_01.bag` to detect regressions.

exwayz_test.dockerfile

@@ -1,44 +1,57 @@
-# syntax=docker/dockerfile:1.3
+# syntax=docker/dockerfile:1.3
-FROM ros:jazzy-ros-core
+FROM ros:jazzy-ros-core
-
+
-# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
+# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
-# Default to amd64 when not provided.
+# Default to amd64 when not provided.
-ARG TARGETARCH=amd64
+ARG TARGETARCH=amd64
-
+ARG GRAPICAL_ENV=TRUE
-# Copy both architecture-specific packages into the image and choose the right one at build time
+
-COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb /tmp/exwayz_amd64.deb
+# Copy both architecture-specific packages into the image and choose the right one at build time
-COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
+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
+# Install dependencies and setup for GUI applications
-#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 
+ENV DISPLAY=:0
-
+ENV WAYLAND_DISPLAY=wayland-0
-# RUN --mount=type=secret,id=exwayz_license set -eux; \
+ENV XDG_SESSION_TYPE=x11
-# 	if [ "${TARGETARCH}" = "aarch64" ]; then \
+ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
-# 		pkg=/tmp/exwayz_aarch64.deb; \
+#If debug, install the following:
-# 	else \
+RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
-# 		pkg=/tmp/exwayz_amd64.deb; \
+	apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
-# 	fi; \
+	fi
-# 	apt-get update; \
+	#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 
-# 	apt-get install -fy "$pkg"; \
+
-# 	if [ -s /run/secrets/exwayz_license ]; then \
+
-# 		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+# RUN --mount=type=secret,id=exwayz_license set -eux; \
-# 	fi; \
+# 	if [ "${TARGETARCH}" = "aarch64" ]; then \
-# 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
+# 		pkg=/tmp/exwayz_aarch64.deb; \
-# 	rm -rf /var/lib/apt/lists/*
+# 	else \
-
+# 		pkg=/tmp/exwayz_amd64.deb; \
-RUN --mount=type=secret,id=exwayz_license set -eux; \
+# 	fi; \
-	apt-get update; \
+# 	apt-get update; \
-	apt-get install -fy /tmp/exwayz_amd64.deb; \
+# 	apt-get install -fy "$pkg"; \
-	if [ -s /run/secrets/exwayz_license ]; then \
+# 	if [ -s /run/secrets/exwayz_license ]; then \
-		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+# 		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
-	else \
+# 	fi; \
-		echo "No license file provided"; \
+# 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
-		exit 1; \
+# 	rm -rf /var/lib/apt/lists/*
-	fi; \
+
-	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
+COPY licenses/exwayz_liscence.lic /tmp/exwayz_license
-	rm -rf /var/lib/apt/lists/*
+RUN set -eux; \
-# TODO verify license was applied successfully
+	apt-get update; \
-
+	apt-get install -fy /tmp/exwayz_amd64.deb; \
-# Set entrypoint
+	if [ -f /tmp/exwayz_license ]; then \
-ENTRYPOINT ["/ros_entrypoint.sh"]
+		exwayz_license --query "$(cat /tmp/exwayz_license)" || true; \
+	else \
+		echo "No license file provided"; \
+		exit 1; \
+	fi; \
+	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
+	rm -f /tmp/exwayz_license; \
+	rm -rf /var/lib/apt/lists/*
+
+# # Change the working directory to /app
+# WORKDIR /app
+
+# Set entrypoint
+ENTRYPOINT ["/ros_entrypoint.sh"]

notes.md

@@ -1 +1,17 @@
-## fixing broken s
+## Secrets
+Secrets currently not working.  
+I ran the liscencing script inside the container manually and all worked as expected. 
+Need to debug and see how we can do this on build.
+
+## Data
+Pulled data from the Exwayz demo on notion's [drive link](https://drive.google.com/drive/folders/1oC_iTZT5e3NsNjVr1Tsyn-uNB1uE5P68).  
+Placed it here: `tmp\data\exwayz_sample_data_slam_01.bag`
+
+When running demo with this repo mounted at `/app` it seems to have worked well.  
+Had a full successful run. See [gif](media\Exwayz_slam_demo_working.gif).
+![Gif of demo](media\Exwayz_slam_demo_working.gif)
+
+
+## Cross arch compatibility
+Started working on cross arch compat. Builds for `aarch64` taking much longer as expected.  
+But failing... not as expected.

pkgs/README.md

@@ -1,12 +1,12 @@
-This is where you want to put the packages from Exwayz. 
+This is where you want to put the packages from Exwayz. 
-
+
-Download them from the latest relaease on [Exwayz 3D Mapping releases](https://exwayz.notion.site/Exwayz-3D-Mapping-releases-19057c917367807bb19de8007c4243cc)
+Download them from the latest relaease on [Exwayz 3D Mapping releases](https://exwayz.notion.site/Exwayz-3D-Mapping-releases-19057c917367807bb19de8007c4243cc)
-
+
-Alternatively, if these links still work you need:
+Alternatively, if these links still work you need:
-### Linux (Ubuntu 24.04)
+### Linux (Ubuntu 24.04)
-
+
-**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
+**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
-)
+)
-
+
-**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
+**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
 )

src/start_docker_wsl_GUI.sh

@@ -0,0 +1,17 @@
+# Setup WSLg environment variables for GUI applications
+echo "🚀 Setting up WSLg environment variables for GUI support..."
+export DISPLAY=:0
+export WAYLAND_DISPLAY=wayland-0
+export XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
+
+echo "✅ DISPLAY is set to $DISPLAY"
+
+
+echo "🐳 Starting Docker container with GUI support..."
+docker run -it --rm \
+    --env="DISPLAY=$DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    -v "${PWD}:/app" \
+    exwayz_test:latest \
+    /bin/bash