OOMWOO PCBs: what, how and why
A module-by-module tour of the main board: compute, real-time control, power and the fail-safe design.
Read the write-up →
Early development · simulate today, hardware in design
Open-source robot vacuum you build yourself.
Raspberry Pi, ROS2 and 2D LiDAR. It maps your home and cleans on its own — fully local, no cloud, no lock-in. The firmware is open, so you can audit it and nothing leaves your home. 3D-printable and hackable.
Clean well
Hackable
Raspberry Pi
ROS2
Home Assistant
2D LiDAR
3D printed
ESP32 · Arduino
Apache-2.0
Reference design — roughly how it'll look
See it working
Short, unpolished clips straight from the simulator and the workbench.
Cleaning walls and tracking cleaned areas Simulation
Sweeps along every wall and obstacle once, and keeps track of what is already clean.
Automatic docking tests Simulation
Finds the dock by its beacon, then lines up on it with the LiDAR.
Wall following torture course Simulation
A full lap of a course built to break wall following. LiDAR only - no map.
3D scanning a HEPA filter into CAD 3D design
Every part we buy is 3D scanned, so the chassis can be designed around it.
Where the build is
Built in the open, so here is the honest state of it.
Can I build one?
Not yet - you can simulate it today.
The chassis and the I/O board are still being designed. Nothing is hidden while that
happens: parts, CAD, schematics and code are all public as they land, and the
step-by-step build guide follows once the first bill of materials is validated on real
hardware.
Simulation90%
Drive it in Gazebo today - SLAM, navigation, teleop. No hardware needed.
Electronics: I/O board55%
Schematic in review, parts placed. The board outline waits on the mechanical design.
Cleaning software40%
Cleans along every wall and obstacle edge, and docks - in simulation. Whole-floor coverage is next.
Mechanical & 3D design25%
Restarted around GT2 belts and metal-gearbox motors, for a simpler print. Parts digitized, chassis in progress.
MCU firmware10%
Serial protocol between compute and motor board merged and tested.
Updated 28 Sep 2026 · task-by-task detail on the RFC board →
Built in public
Long-form write-ups of what we're building, how, and why - including what didn't work.
Electronics
Mechanical design
How the 3D design gets made
Sourcing, 3D scanning and CAD - and why the Roborock-style mops were dropped.
Read the write-up →
Hardware bring-up
Wheels, fans and brushes on the bench
Motors, fans and brushes powered up one by one: pinouts, connectors and measured currents.
Read the write-up →
Software
How the cleaning algorithms work
Wall following, edge cleaning, docking and localization - the problems we hit and how we solved them.
Read the write-up →
Everything's open.
Print chassis, install software — or just follow along while it comes together.
Main repo
Goals, architecture, design research and the whole open build in one place.
Open on GitHub →
Install & simulate now
The dev environment is ready — install it and drive oomwoo-one in Gazebo (SLAM, Nav2, teleop), no hardware needed.
Run on real vacuum
No hardware to wait for — connect an off-the-shelf Proscenic M6 Pro to ROS2 as a placeholder robot and run the same stack on real hardware.
Follow tutorial →Under the hood
Not a sealed appliance — an open platform you assemble, understand, and modify.
Built by community, in parallel
The robot is split into independent modules (RFCs). Pick one, work when you want, open a PR.
Requests for Contributions
Grab a module — sim, mapping, navigation, docking, floor care and more.
See open modules →
Contributing guide
How the parallel, module-based workflow works and how to submit your PR.
Read guide →
Say hi on Discord
Ask questions, claim a module, and build in public with the rest of us.
Join chat →