PaveWay Project

PaveWay is an autonomous pothole detection and mapping robot based on the TurtleBot3 platform. The project includes a simulation environment and a web app for visualization.

Workspace Setup

Building the PaveWay Workspace

After cloning the PaveWay repository, build the workspace with:

cd ~/paveway_ws
colcon build --symlink-install

Sourcing the Workspace

After building the workspace, source and define Turtlebot model:

source install/setup.bash #or setup.zsh
export TURTLEBOT3_MODEL="burger" # or "waffle"

Running the Packages

Running Gazebo Simulation

ros2 launch paveway_sim paveway_sim.launch.py

Running Navigation Node

ros2 launch paveway_nav paveway_nav.launch.py

Running Server Node

After running the server node, the web dashboard can be found at Foxglove

ros2 launch paveway_web paveway_web.launch.py

Repository Structure

📂 paveway_ws
├── 📂 src
│   ├── 📂 paveway_sim
│   ├── 📂 paveway_nav
│   ├── 📂 paveway_vision
│   ├── 📂 paveway_web
│   ├── 📂 paveway_launch
│   └── ...
└── colcon.meta