update untracked files

README.md

@@ -1,35 +1,69 @@
-# Build the docker image
-'''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
+# **Project Overview**
+
+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.
+
+**Repository Contents**
+
+- **`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)
+- **`media/`**: screenshots and demos (GIFs) used in documentation.
+- **`licenses/`**: licensing information for included components.
+
+**Contributing**
+
+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.
 
 
+# **Quick Start**
 
-# 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 
+Build the image (from the repository root):
 
-'''bash
-docker run -it \
+```powershell
+docker build -f exwayz_test.dockerfile -t exwayz_test:latest .
+```
+
+Run the container (example; adjust mounts and environment for your platform):
+
+```powershell
+# Example (WSL on systems with X11 forwarding available)
+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
-'''
+    -v "${PWD}:/app" \
+    exwayz_test:latest \
+    /bin/bash
+```
 
+On POSIX shells use `$DISPLAY` and `$(pwd)` as usual.
 
-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'
+Run the Exwayz SLAM pipeline against the sample bag inside the container (example):
 
-Hopefully, you will see something like this:
-![Working Exwayz Demo¨¨](media/Exwayz_slam_demo_working.gif)
+```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
+```
 
-# may have to:
-source /opt/ros/$ROS_DISTRO/setup.bash
+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

@@ -4,14 +4,23 @@ FROM ros:jazzy-ros-core
 # Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
 # Default to amd64 when not provided.
 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 pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
 
+# Install dependencies and setup for GUI applications
+ENV DISPLAY=:0
+ENV WAYLAND_DISPLAY=wayland-0
+ENV XDG_SESSION_TYPE=x11
+ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
 #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 if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
+	apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
+	fi
+	#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 \
@@ -27,18 +36,22 @@ RUN apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libg
 # 	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; \
+COPY licenses/exwayz_liscence.lic /tmp/exwayz_license
+RUN set -eux; \
 	apt-get update; \
 	apt-get install -fy /tmp/exwayz_amd64.deb; \
-	if [ -s /run/secrets/exwayz_license ]; then \
-		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+	if [ -f /tmp/exwayz_license ]; then \
+		exwayz_license --query "$(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/*
-# TODO verify license was applied successfully
+
+# # 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.

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