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

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:

may have to:

source /opt/ros/$ROS_DISTRO/setup.bash