OOMWOO: Build Your Own Open-Source, Hackable Robot Vacuum Cleaner

Introduction

OOMWOO is an exciting open-source initiative that empowers you to build your very own robot vacuum cleaner. This project leverages popular technologies like Raspberry Pi, 3D printing, Home Assistant, Arduino, and ROS2, integrating an affordable 2D LiDAR for mapping and autonomous navigation. Designed with hackability and local operation in mind, OOMWOO ensures no cloud is required for its regular functionality, offering a truly customizable and independent home cleaning solution. The project fosters a community-driven development approach, inviting enthusiasts to contribute to its various modules.

Why Use and Key Features

OOMWOO stands out with several compelling features and benefits:

Fully Open-Source and Hackable: The project is committed to providing fully open hardware, software, and firmware. This design philosophy makes OOMWOO easily fixable, upgradeable, and adaptable to your specific needs, encouraging DIY modifications and enhancements.
Affordable and Quality-Focused: OOMWOO aims to be an affordable, high-quality home appliance, not a disposable build. It is designed to be constructed from parts you source yourself, making it accessible while maintaining product-level quality.
Autonomous Navigation: Utilizing 2D LiDAR for mapping and ROS2's Nav2 stack, OOMWOO offers robust autonomous navigation capabilities, allowing the robot to efficiently clean your home.
Native Home Assistant Integration: For seamless local control and automation, OOMWOO provides native integration with Home Assistant, putting you in complete command of your robot vacuum without relying on external services.
3D-Printable Chassis: The robot's chassis is designed to be 3D-printable, with documented files and a hackable structure, enabling easy assembly and customization.
Community-Driven Development: OOMWOO is structured for massive parallel contributions, with a clear RFC board guiding community members on how to get involved in developing software, firmware, and mechanical components.
Local Operation, No Cloud Required: A core principle of OOMWOO is its ability to operate fully locally, ensuring your privacy and eliminating vendor lock-in or reliance on cloud services for essential functions.

Installation

While early build instructions for the complete hardware assembly are anticipated for Fall 2026, you can begin exploring and contributing to OOMWOO today. The project provides comprehensive resources for setting up the software development environment and running simulations.

To get started with the ROS2 and Ubuntu installation, along with the Gazebo simulation, refer to the OOMWOO ROS2 and Ubuntu installation repository. This allows you to develop and test software modules in a simulated environment.

For those interested in working with real hardware, the project also supports integrating a placeholder robot, such as a Proscenic M6 Pro connected to ROS2, to facilitate early development of control and navigation algorithms.

Examples

OOMWOO offers various avenues for engagement and development, even before the final hardware is ready:

Gazebo Simulation: Utilize the provided Gazebo simulation environment to develop, test, and refine software modules for cleaning, localization, and navigation. This allows for rapid iteration and experimentation.
Placeholder Robot Integration: Contribute to the project by developing modules against a real placeholder robot, like the Proscenic M6 Pro with a ROS2 bridge. This provides a tangible platform for testing firmware and software components.
RFC Board Contributions: Explore the RFC board for a wide range of actionable contribution examples across software, firmware, hardware, and procurement. This board is the central hub for community tasks, from developing cleaning algorithms to designing PCB boards or specifying mechanical parts.