makerspet/oomwoo

Open-source vacuum robot cleaner

OOMWOO – Open‑source DIY robot vacuum

What it is

  • A community‑driven project to design and build a fully‑open‑hardware robot vacuum that you can assemble yourself. The robot runs locally (no cloud required) and is intended to have the same reliability you expect from a commercial appliance.

Core capabilities

  • 2‑D LiDAR‑based SLAM for mapping and autonomous navigation (ROS 2 /Nav2).
  • Home Assistant integration for local control and automation.
  • ROS 2‑based software stack (URDF, Gazebo simulation, navigation, cleaning‑job orchestration, safety watchdog, etc.).
  • Modular hardware: 3‑D‑printed chassis, Raspberry Pi Compute Module 4/5 as the main computer, STM32‑based I/O board for motor drivers, sensors, charging, and optional camera/ToF obstacle avoidance.
  • Open‑source firmware (FreeRTOS + Arduino‑style API) for the MCU, plus ROS 2 bridge code.

Technology stack

  • Hardware: Raspberry Pi CM4/CM5, 2‑D LiDAR, motor‑driver PCB (STM32G473), optional stereo camera & VL53L7CX ToF sensors, 3‑D‑printed parts (CAD files in the repo).
  • Software: Ubuntu 22.04, ROS 2 Humble (or later), Nav2, Gazebo for simulation, ROS 2 composable nodes, Rust for performance‑critical parts, FreeRTOS on the MCU, Home Assistant integration.

Project status

  • Early development (status badge shows early development).
  • Simulation (URDF + Gazebo) is mostly complete; a placeholder vacuum (Proscenic M6 Pro) is already usable with ROS 2.
  • Hardware design files, 3‑D‑printable STL/STEP files, and PCB layouts are still being added.
  • A set of “modules” (navigation, docking, safety, cleaning jobs, etc.) are listed with their current progress, inviting contributors to take ownership.

How to get involved

  1. Read the docs – CONTRIBUTING.md, ARCHITECTURE.md, and the module list give a clear picture of what needs work.
  2. Pick a module – each module has its own folder under contributions/. Create a fork or a new repo, implement the feature (code, simulation, docs, or hardware spec), and open a PR that links back to the module folder.
  3. Join the community – Discord, Reddit, X, Instagram, and the project mailing list are all linked from the README.
  4. Use the existing tooling – the oomwoo-install repo provides the ROS 2 development environment and Ubuntu setup scripts.

Where to find more

  • Code & docs: https://github.com/makerspet/oomwoo (main repo) plus related repos (oomwoo-install, oomwoo-one, oomwoo-io-firmware, etc.).
  • Build instructions (coming Fall 2026) and tutorials are hosted on https://makerspet.com/learn/.
  • Community channels: Discord, Reddit, X, Instagram, YouTube, and a newsletter (links in the README).
  • License: Apache 2.0 for software; hardware files will be released under an open‑hardware license once available.

Bottom line OOMWOO is a genuine open‑source robotics project that combines ROS 2 navigation, 3‑D‑printed hardware, and Home Assistant integration to create a DIY robot vacuum. It is still in the early‑stage build‑and‑simulation phase, but the repository provides a clear modular roadmap and a welcoming contribution process for anyone interested in robotics, embedded systems, or open‑hardware home appliances.

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