35 lines
1.1 KiB
Markdown
35 lines
1.1 KiB
Markdown
# Build the docker image
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'''bash
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docker build -t exwayz_test:v1.0 -f exwayz_test.dockerfile .
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'''
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## TODO Building with docker secrets
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We need to improve our handling of secrets and figure out a safer way to include them in the docker file/image
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# To run the docker file:
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1. We need to enable the use of the display
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2. Share the volume with our current code so we can access it in the container
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3. start a shell
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'''bash
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docker run -it \
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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
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'''
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Then, run the exways slam on a bag to test everything is workign correctly.
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'''bash
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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
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'''
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Naturally, change the path to the bagfile for the parameter '--bag'
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Hopefully, you will see something like this:
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# may have to:
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source /opt/ros/$ROS_DISTRO/setup.bash |