oomwoo README

The project's README from github.com/makerspet/oomwoo. As one markdown file: README.md.

OOMWOO

Open-source robot vacuum you build yourself

Clean well · Hackable · Raspberry Pi · 3D printed · Local / No cloud required · Home Assistant · Arduino · ROS2 · ESP32

License Status

OOMWOO is an open-source home robot vacuum you can build yourself, built using Raspberry Pi, 3D-printing, Home Assistant, Arduino and ROS2. It uses an affordable 2D LiDAR to map your home and navigate on its own. Local, no cloud required for regular functionality, no vendor lock-in. Follow us building in public Discord | X | Instagram | Facebook | Reddit | newsletter | YouTube | oomwoo.com | Tutorials

Early build instructions will be available in Fall 2026.

Reference design images - this is approximately how the finished design will look:

Reference robot vacuum cleaner top Reference robot vacuum cleaner bottom Reference robot vacuum cleaner - top cover removed

Goals

v0 target: bare-bones build:

Open Source Deliverables:

Contributing

Would you like to contribute? See CONTRIBUTING for the full guide.

OOMWOO is organized to built by the community, massively in parallel. The vacuum and its software are subdivided into modules, listed on the RFC board.

A volunteer picks whatever module she wants and works on it whenever she wants. For code and simulation modules she builds her package in her own repo and sends a short PR linking it from the module; for docs and specs she contributes files in-tree under contributions/module-name/<her-github-username>. See CONTRIBUTING for how this works.

Multiple developers are welcome to work on the same module. The best solution for each module surfaces over time, with the project master having the last call.

  1. Pick a contribution from the RFC board.
  2. Let us know you're working on it and your progress.
  3. Check ARCHITECTURE.md and SOFTWARE_INTERFACES.md for the system design and ROS2 interfaces.

Requests for Contributions

Every module below is actionable now — build it against the Gazebo simulation (oomwoo-one) or a real placeholder robot (a Proscenic M6 Pro connected to ROS2), until OOMWOO hardware is ready. Pick one, tell us in Discussions, build it in your own repo (docs and specs go in-tree), and send a short PR linking it from the module.

Every RFC — software, firmware, hardware and procurement — lives on the RFC board, together with its current progress and status. That board is the single source of truth, so this page links to it rather than copying it: a second copy here only ever drifts out of date. Broadly:

→ Browse the RFC board and pick a module

Planned and on-hold modules (mechanical design, later-phase software) live in the RFC backlog.

Source code reference

User requirements & Design research

Anecdotal prospective user requirements - collected mostly in r/RobotVacuums, r/ROS and as announcement post comments:

About

The project name "OOMWOO" is a rotational ambigram - it reads the same flipped 180°, like the robot itself, roaming your floor in every direction.

The project is sponsored by makerspet.com and remake.ai. We are reusing their open-source solutions.

License

Code is released under the Apache License 2.0.

Hardware design files, once added, to be released under an open hardware license (TBD).

OOMWOO star history

oomwoo (makerspet/oomwoo)

Searching Database…

12.1K ·GitHub
Oomwoo
What is this?OOMWOO is an open-source home vacuum robot you build yourself, using a Raspberry Pi, 3D-printed parts, Home Assistant, Arduino and ROS2, navigating with an affordable 2D LiDAR.
Is this a finished vacuum I can buy, or a build-it-yourself project?It is a DIY build: you 3D-print the chassis, source the electronics yourself, and run ROS2 software on it. There is also an optional convenience parts kit planned from makerspet.com, but no ready-made product exists yet.
How do I start building one?Since OOMWOO's own hardware isn't finished yet, you build and test against the ROS2 Gazebo simulation (oomwoo-one) or a real placeholder robot (a Proscenic M6 Pro wired to ROS2), picking an open module from the RFC board to work on.
What hardware do I need to build it?A Raspberry Pi CM4/CM5 running ROS2, a 2D LiDAR for mapping, a 3D printer for the chassis, and STM32-based motor-driver/IO PCBs with ESP32/Arduino firmware for the electronics side.
Is OOMWOO ready to build today?Not yet - most deliverables (3D-printable files, Raspberry Pi software, driver/sensor PCBs, firmware, build instructions) are still unchecked on the roadmap, and early build instructions are planned for Fall 2026.
Does it need an internet connection or cloud account to work?No - OOMWOO runs locally for its regular cleaning and mapping functionality with no cloud or vendor lock-in required; a cloud connection is only needed for optional extras like a future app store.
Why is the project called OOMWOO?'OOMWOO' is a rotational ambigram - it reads the same when flipped 180 degrees, mirroring how the robot roams your floor in every direction.
Can I just buy a parts kit instead of sourcing everything myself?Yes, makerspet.com plans to sell an optional kit with motors, PCBs, brushes, gaskets and LiDAR, but it's only a convenience - every part can also be sourced independently since the whole design stays open.
What existing projects does OOMWOO build on or compare to?It references prior art like Valetudo (cloud-free firmware for commercial vacuums), the kaiaai/LDS LiDAR libraries, remakeai's ROS2 vacuum bridge, Dennis Giese's robot-vacuum teardown research, and the Open Mower outdoor-mower project for inspiration.
What are similar projects?ardupilot, Marlin, muse-gadget-sdk, tiny-engineer, Tasmota, awesome-esp32, smartknob, tinygo
Which topics is it in?slam, ros2, stm32, sensors, navigation, arduino, 3d-printing, home-assistant, esp32, robotics, firmware, iot
Creator
makerspet
Size
4.7 MB
Stars
12.1K
Updated
CommitOct 15
Age
4mo
Commits · 90 Days