70 lines
3.2 KiB
Markdown
70 lines
3.2 KiB
Markdown
# **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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**Repository Contents**
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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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- **`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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- **`licenses/`**: licensing information for included components.
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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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# **Quick Start**
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Build the image (from the repository root):
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```powershell
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docker build -f exwayz_test.dockerfile -t exwayz_test:latest .
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```
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Run the container (example; adjust mounts and environment for your platform):
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```powershell
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# Example (WSL on systems with X11 forwarding available)
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docker run -it --rm \
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--env="DISPLAY=$DISPLAY" \
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--env="QT_X11_NO_MITSHM=1" \
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--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
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-v "${PWD}:/app" \
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exwayz_test:latest \
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/bin/bash
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```
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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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```bash
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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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--hesai-model PandarXT-32 \
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--d-write 0.1 -o ./slam_session_tutorial --no-date
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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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You should see something like this:
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# **Status**
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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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- Target: this repo should evolve into the deploy-and-run repo for vehicle microservices.
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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] **Refine README**: polish documentation and examples (in progress).
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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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- [ ] **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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- [ ] **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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