makerspet/oomwoo

Open-source vacuum robot cleaner

OOMWOO – Open‑source DIY robot vacuum

What it is – OOMWOO is a community‑driven project to build a fully‑open‑source robot vacuum. The design is meant to be fabricated at home with 3‑D‑printed parts, a Raspberry Pi CM4/CM5 running ROS 2, an inexpensive 2‑D LiDAR for mapping, and custom PCB/firmware for motor control. All software runs locally; cloud services are optional.

Key components

  • Hardware – 3‑D‑printable chassis, motor‑driver PCB (STM32), LiDAR sensor, Raspberry Pi compute module, brushes/fan/dust bin. Bill of Materials is provided (still a draft).
  • Software stack – ROS 2 (Nav2) for autonomous navigation, Gazebo simulation for development, Home Assistant integration for local UI/control, and firmware for the STM32 I/O board.
  • Simulation – A complete ROS 2 robot description (oomwoo-one) and Gazebo world let you test mapping and cleaning before any hardware is built.
  • Modular contribution model – The project is split into modules (software, firmware, mechanical, procurement). Contributors can work on a module in their own repo and link it back via a short PR.

Current status

  • The robot is not yet buildable in hardware; you can run the full simulation today.
  • Core deliverables such as the ROS 2 description package, installation scripts, and a draft BOM are available.
  • CAD files for the chassis exist, but printable STL files and PCB layouts are still pending.
  • Placeholder support for existing commercial vacuums (Proscenic M6 Pro, Roborock S5 Max) is provided to let developers experiment with ROS 2 drivers while the custom hardware is being finalized.

How you can use it

  1. Simulate – Clone oomwoo-install and oomwoo-one, launch Gazebo, and try the basic cleaning and mapping demos.
  2. Build – When the final BOM and printable files are released, order parts, print the chassis, assemble the electronics, and flash the ROS 2 and firmware packages.
  3. Extend – Write ROS 2 nodes or Home Assistant automations, add new sensors, or create custom cleaning‑strategy apps. Future plans include an app store powered by remake.ai.

Who it’s for

  • Hobbyists who want a DIY robot vacuum they can understand, modify, and repair.
  • Robotics learners looking for a concrete ROS 2 project that combines perception, navigation, and embedded firmware.
  • Makers who prefer a locally‑controlled appliance without vendor lock‑in.

License – Code under Apache 2.0; hardware designs will be released under an open‑hardware license.

Links – Discord, X, Instagram, Reddit, YouTube, tutorials, and the RFC board for picking contribution tasks are all listed in the README.

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