Oomwoo,一款可自行组装的开源扫地机器人
阅读原文· makerspet.comOomwoo是一个完全开源的扫地机器人项目,公开了硬件、固件和软件设计。它采用2D LiDAR建图与ROS 2/Nav2自主导航,无云端依赖,本地运行并原生集成Home Assistant。底盘支持3D打印,目标零件成本$100~$200外加Raspberry Pi 5 4Gb,可达到中档500-600美元扫地机的清洁能力。目前处于早期阶段,已发布v0基础版本——包括3D打印底盘、ROS 2 Gazebo仿真和LiDAR手动SLAM。项目按模块拆分,社区可并行参与开发,涵盖URDF仿真、清扫策略、尘盒和风机组件等。

Today I’m kicking off my most ambitious Maker’s Pet project yet: oomwoo, an open-source home robot vacuum that you can build yourself. Open hardware, open firmware, open software — and built in public, from the first commit.
No cloud required. No vendor lock-in. It maps your home with an affordable 2D LiDAR and navigates on its own, runs locally, and integrates natively with Home Assistant. If you’re into Raspberry Pi, ROS 2, 3D printing, or just the idea of owning a vacuum you fully understand and control — this one’s for you.
About the name: “oomwoo” is a rotational ambigram — it reads the same flipped 180°, just like the robot itself roaming your floor in every direction.

What oomwoo is
oomwoo is a build-it-yourself robot vacuum designed for the maker community:
- Affordable and fully open — hardware, software, and firmware
- 2D LiDAR mapping and autonomous navigation with ROS 2 / Nav2
- Native Home Assistant integration for local control
- 3D-printable, documented, hackable chassis
- Local-first — no cloud needed for everyday cleaning, ever
- Home-appliance quality — not a throwaway build
- Step-by-step, zero-to-hero build instructions, with a complete bill of materials so you can source every part yourself
Optional extras — cloud features, and eventually an app store of ROS 2 apps to customize how your vacuum behaves — will layer on top. But the core promise never changes: the vacuum always works cloud-free and local, out of the box.

Where the project is today
This is genuinely early — and that’s the point of building in public. The first milestone (v0) is a bare-bones, working build:
- 3D-printed chassis
- ROS 2 Gazebo simulation
- LiDAR with manual SLAM
- ROS 2 on a Raspberry Pi 5 and/or ESP32 running micro-ROS (final architecture still being decided)
The open-source deliverables I’m working toward: bill of materials, 3D-printable files, ROS 2 packages, firmware, a motor-driver and sensor PCB, full build / bringup / troubleshooting docs, and demo videos.

Build it with me — massively in parallel
oomwoo is organized so the community can build it in parallel. The robot and its software are split into self-contained modules. You pick whatever module interests you, work on it whenever you want, and submit your work as a pull request. Multiple people can tackle the same module — the best solution surfaces over time.
Modules ready to start right now include:
- ROS 2 URDF + Gazebo simulation — robot model, TF, bumper, sim
- First clean — coverage cleaning while SLAM-mapping and exploring
- Dust bin — design, 3D print, and test
- Vacuum fan / blower assembly — blower motor, impeller, volute housing
If you’d like to jump in, the GitHub repo has the module list, the architecture doc, and contribution guidelines.
Follow along
I’ll be sharing progress, dead ends, and wins as they happen:
- GitHub: github.com/makerspet/oomwoo — code, docs, and discussions
- Discord: join the build chat
- YouTube: build-in-public channel
- Reddit: r/ArduinoAndRobotics
- X: @0OMWO0
Follow OOMWOO build
Open-source robot vacuum community build updates
Parts Kit
Everything about oomwoo stays open — you can source every part yourself. If you’d rather skip the parts hunt, a convenience kit (motors, PCB, brushes, gaskets, LiDAR) will be available here at Maker’s Pet, from the same maker behind this project. The kit is a convenience, never a requirement.
More oomwoo: repos & tutorials
- Main project (RFCs, BOM, design docs): github.com/makerspet/oomwoo
- oomwoo-one — first model, ROS 2 + Gazebo simulation: github.com/makerspet/oomwoo-one
- oomwoo-install — ROS 2 / Docker dev environment: github.com/makerspet/oomwoo-install
- Tutorial: How to source the BOM for oomwoo