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)

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12.1K ·GitHub
Oomwoo
这是什么？OOMWOO 是一款开源家用扫地机器人，由你自己动手组装。它使用 Raspberry Pi、3D 打印件、Home Assistant、Arduino 和 ROS2，并借助一款价格实惠的 2D 激光雷达（LiDAR）进行导航。
这是我能直接买到的成品吸尘器，还是需要自己动手做的项目？这是一个 DIY 项目：你需要自己 3D 打印底盘、自行采购电子元件，并在机器人上运行 ROS2 软件。官方还计划在 makerspet.com 推出一套可选的便捷配件套装，但目前尚无现成的成品。
我该如何开始自己组装？由于 OOMWOO 自身的硬件尚未完成，你可以基于 ROS2 Gazebo 仿真环境（oomwoo-one），或一台接入 ROS2 的真实替代机器人（即接入 ROS2 的 Proscenic M6 Pro）进行开发和测试。你可以从 RFC 看板中挑选一个开放的模块来着手。
组装它需要哪些硬件？需要一块运行 ROS2 的 Raspberry Pi CM4/CM5、一台用于建图的 2D 激光雷达、一台用于打印底盘的 3D 打印机，以及基于 STM32 的电机驱动/IO 类 PCB 电路板。电子部分还需要运行 ESP32/Arduino 固件。
OOMWOO 现在可以开始组装了吗？还不行。路线图上的大部分交付物（可 3D 打印的文件、Raspberry Pi 软件、驱动/传感器 PCB 电路板、固件、组装说明）仍未勾选完成，早期组装说明计划于 2026 年秋季发布。
它需要联网或云账户才能工作吗？不需要。OOMWOO 的日常清扫和建图功能均在本地运行，无需云端服务，也不存在厂商锁定。只有可选的扩展功能（例如未来的应用商店）才需要联网。
这个项目为什么叫 OOMWOO？“OOMWOO”是一个旋转对称字（ambigram），旋转 180 度后读起来依然相同，寓意机器人能在你家地板上四处游走、朝各个方向移动。
我能直接买套件，而不用自己采购所有部件吗？可以。makerspet.com 计划推出一款可选套件，包含电机、PCB 电路板、毛刷、密封垫圈和激光雷达。不过这只是为了方便，由于整个设计保持开源，所有部件也都可以独立采购。
OOMWOO 借鉴或对标了哪些现有项目？它参考了一些已有成果，例如 Valetudo（面向商用扫地机器人、无需云端的固件）、kaiaai/LDS 激光雷达库、remakeai 的 ROS2 扫地机器人桥接项目、Dennis Giese 的扫地机器人拆解研究，以及开源割草机项目 Open Mower，并将其作为灵感来源。
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