Build the docker image

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:

We need to enable the use of the display
Share the volume with our current code so we can access it in the container
start a shell

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.

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: