Open-source robot vacuum you build yourself
Clean well · Hackable · Raspberry Pi · 3D printed · Local / No cloud required · Home Assistant · Arduino · ROS2 · ESP32
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
Not buildable yet - you can run it in simulation today. Build instructions follow once the first bill of materials is validated on real hardware. See where the build is.
Reference design images - this is approximately how the finished design will look:
v0 target: bare-bones build:
Open Source Deliverables:
feat/roborock-s5max branch for now)Would you like to contribute? See CONTRIBUTING for the full guide.
OOMWOO is organized to be 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.
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 or a Roborock S5 Max), 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is the single source of truth, so this page links to it rather than copying it: a second copy here only ever drifts out of date.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.
Anecdotal prospective user requirements - collected mostly in r/RobotVacuums, r/ROS and as announcement post comments:
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.
Code is released under the Apache License 2.0.
Hardware design files, once added, to be released under an open hardware license (TBD).
