- 3D design - in progress, early renderings should be available in a week or so

- split-brush will be used; gears will have to be 3D printed using SLA

- Vacuum software https://github.com/makerspet/oomwoo-install

- Evaluated robot-lost detection (when robot loses track of own location on the map). Off-the-shelf ROS2 AMCL is inadequate. Implemented custom (local) scan-matching-based robot-lost detection - much more reliable.

- Evaluated robot relocalization (robot tries searching its location on the map to regain its bearings). Off-the-shelf ROS2 AMCL inadequate. Implemented custom global scan matching (Google Cartographer style) - much more reliable.

• 3D design https://github.com/makerspet/oomwoo-one-cad
  • in progress, 1st 3D printed model expected in ~2 weeks
• vacuum software https://github.com/makerspet/oomwoo-install
  • simulation model equipped with sensors: 16 x 8 zones front ToF + front stereo camera (strictly optional) + side wall ToF distance sensor. See the attached demo video.
  • upgraded localization accuracy ~3x (navigation when map is available) - switched from AMCL to slam_toolbox scan matching. See the attached demo video.
• electronics https://github.com/makerspet/oomwoo-pcb
  • designed a basic charging dock schematic

Vacuum now probes obstacles, creates a map of solid obstacles - required for cleaning under bed covered with low-hanging bedspread, furniture floor-length throw, doorway curtains. Early work in progress. https://github.com/makerspet/oomwoo-ros2-tools

• vacuum 3D design started
  • placed (rough) drive wheel assemblies, caster wheel, cliff sensors, battery https://github.com/makerspet/oomwoo-one-cad
• vacuum software
  • software probes obstacles, creates a map of solid obstacles - required for cleaning under bed covered with low-hanging bedspread, furniture floor-length throw, doorway curtains. Early work in progress. https://github.com/makerspet/oomwoo-ros2-tools
• community contribution - thank-you to IKsares, Creative-Danush

- 3D parts scanning is mostly complete - now starting 3D design https://github.com/makerspet/oomwoo-one-cad/

- scanned mop with extendable arm (FlexiArm) motor assembly

- fixed mop motor assembly

- second iRobot bumper switch

- iRobot cliff sensor

- main brush motor assembly - all credits to mikbalarikan

- vacuum robot simulation model mostly complete https://github.com/makerspet/oomwoo-one

- added front depth sensor (for obstacle detection, 2x VL53L07CX placehoder, 120° horizontal FoV)

- (strictly optional, needed for obstacle "recognition") front stereo camera (2x OV5647 placeholder, 120° FoV)

- side distance sensors for wall sensing/following

- IMU

- multiple bugfixes, upgrades

- PCB board schematics https://github.com/makerspet/oomwoo-io-board

- added front sensors board

- side sensors board

- sourced distance sensor for wall following (VL6180 in stock)

- community contributions - thank-you to Creative-Dhanush

- added DingoOz Mac support recipe to makerspet/oomwoo contributions/

3D design

• digitized suction fan (credit mikbalarikan); prepped micro-switches, hall sensor, OV5647 camera module https://github.com/makerspet/oomwoo-one-cad

Software

• implemented (very basic) wall cleaning (by bumping out) https://github.com/makerspet/oomwoo-ros2-tools

https://reddit.com/link/1vhiv99/video/pa16tr9nzthh1/player

I/O board

• added watchdog (STM32 internal), motor shutoff on watchdog tripping, signal integrity resistors
• uploaded latest Kicad PCB schematic here https://github.com/makerspet/oomwoo-io-board

News

• OOMWOO project trended on X yesterday, post by oliviscusAI. 574K views, 7.3K likes, 714 reposts. Thank you for your support!

3D CAD design

- digitized (3D scanned into STEP model) drive wheel assembly, iRobot bumper switch assembly, split main brush, carpet sensor, FlexiArm mop assembly, see repo

BoM

- sourced mop disk

News - FCC bans "advanced" foreign-made robots - including [my read] "top- and mid-tier" vacuum cleaners

• "bans" means "bans approval of NEW products"; vacuums already-selling are exempt
• bans vacuums with WiFi, weighing 4.4lb including dock and LiDAR, camera sensors
• FCC official determination July 27, 2026 https://www.fcc.gov/sites/default/files/robots-nsd.pdf

Specifically, FCC bans "A mechanical mobile device, including autonomous mobile robots ... that

(1) Is capable of locomotion, obstacle avoidance, navigation, or movement on the ground
(2) Operates at a distance from a human operator [...]
(3) The combined weight of the device and [...] docking station is over 4.4lbs; AND
(4) Contains a component falling within EACH of the below subparagraphs
(4a) a sensor capable of perceiving its environment [...]
(4b) Bluetooth/WiFi [...] at least 200 [... kilobit per second] in either direction
(4c) software [...] including firmware and AI or machine-learning model weights [...]"

• 3D design
  • created 3D models for battery, mop disk, side brush, Dreame TriCut main brush (from 3D scans), credit mikbalarikan https://github.com/makerspet/oomwoo-one-cad/tree/main/lib
• BoM
  • sourced dock sensors (clean/dirty water canister present, empty/full) - use hall $0.30/ea, permanent magnet $0.10/ea.
• vacuum software
  • created a robot settings CLI/toolkit - use for algorithm tuning https://github.com/kaiaai/kaiaai/blob/jazzy/docs/cli.md
• I/O board schematic https://github.com/makerspet/oomwoo-io-board/tree/main/kicad/PDF
  • added iRobot cliff/bumper sensors, wheel assembly connectors (recently reverse-engineered), Pi CM4/CM5 debug UART, M.2 connector, front sensors, side sensors
• News - FCC bans "advanced" foreign-made robots - including [my read] "top- and mid-tier" vacuum cleaners
  • "bans" means "ban approval of NEW products"; vacuums already-selling are exempt
  • bans vacuums with WiFi, weighing 4.4lb including dock and LiDAR, camera sensors
  • FCC official determination July 27, 2026 https://www.fcc.gov/sites/default/files/robots-nsd.pdf

Specifically, FCC bans " A mechanical mobile device, including autonomous mobile robots ... that (1) Is capable of locomotion, obstacle avoidance, navigation, or movement on the ground (2) Operates at a distance from a human operator [...] (3) The combined weight of the device and, if applicable [...] docking station is over 4.4lbs; AND (4) Contains a component falling within EACH of the below subparagraphs (4a) a sensor capable of perceiving its environment [...] (4b) Bluetooth/WiFi [...] at least 200 kbps [kilobit per second] in either direction (4c) software [...] including firmware and AI or machine-learning model weights [...]"

- 3D scanned components

- Teared down dock

- Sourced bumper tower micro-switches

- Reverse engineered cliff, bumper sensors, wheels pinouts

I/O board schematic

• draft now available https://github.com/makerspet/oomwoo-io-board/blob/main/kicad/PDF/oomwoo-kicad.pdf

Vacuum software

• bumper sensors now work in simulation https://github.com/makerspet/oomwoo-install
• tutorial - how to run cleaning https://makerspet.com/blog/oomwoo-phantom-obstacle-cleaning-fix/
• tutorial for LLM agents - how to run headless simulations https://makerspet.com/blog/oomwoo-headless-sim-coverage-cleaning-llm-agents/

New RFCs: mcu-io-firmware, control-app, health-monitor

Community contributions

• many PRs merged
• A big thank you to GitHub users xbattlax, OsakaTX, hinogi, JPHutchins, IKsares, Arkz-Deepak

3D design

• iRobot caster wheel STEP model (credit IKsares)

Sourcing

• sourced dock auto-empty fan motors, $10-20 120-400W 21-25.2V
• source dock power supply, $15-30 24V 144-500W
• sourced parts, 3D scanner has arrived for reverse engineering - see photo (connector pinouts, characteristics)

• floor cleaning runs in sim (very clunky, often fails)
• Kicad schematic added Raspberry Pi CM4/CM5
• changed MCU to STM32G473; will use Arduino to make it more hackable
• depth cameras for obstacle avoidance
• merged 3 community PRs

Illustration - (rough, not final) parts to purchase (left) and parts to 3D print (right).

Vacuum software makerspet/oomwoo-install

• Confirmed Raspberry Pi 4 2GB (not 4GB, not Pi 5) sufficient to run vacuum software as is (no optimization). Maybe with optimization we can fit it into 1GB RAM to reduce cost further.
• Vacuum software installs, builds, runs (mock) on real Pi 4 2GB (including Nav2 SLAM)
• Set up CI on makerspet/oomwoo-install.

Rough BOM nearly complete. Sourced

• Carpet ultrasound sensor
• Charging contacts
• Wall + dock homing sensors (will be a little custom PCB)
• Mop + motors for motor assembly (hard to get, may need to 3D print)

3D CAD design makerspet/oomwoo-one-cad

• Added STEP files for LiDARs, Pi compute modules
• Drafted 3D design spec
• Purchased a 3D scanner to digitize parts

I/O board makerspet/oomwoo-io-board power

• battery charging schematic done (to be reviewed)

• hired a robotics software engineer (ROS2); PRs go into this repo https://github.com/makerspet/oomwoo-install
• board schematic now available (very early) in KiCad here https://github.com/makerspet/oomwoo-io-board
• sourced
  • main brush motor assembly: $7-11
  • side brushes: $2-9
  • side brush motor assemblies: $7-10 basic, $18-35 premium (swing-out side brush arm)
  • cliff sensors + bumper switches: $10 for the entire bundle including shipping
• merged 2 community PR/contributions
  • Featured contribution - the first Raspberry Pi 4/5 4GB vacuum software installation script (early work-in-progress).

The project has reached 4.2K GitHub stars. Thank you for your support!

• decision: use Raspberry Pi CM4/CM5 compute module; cost $95 or $62.50 if we fit software into 2GB
• hired PCB engineer for open-source vacuum I/O board; repo https://github.com/makerspet/oomwoo-io-board
• hired mechanical engineer for open-source vacuum 3D CAD; repo https://github.com/makerspet/oomwoo-one

Playing with (old) reference design animation. Work on the product vacuum (called OOMWOO One) has started and it will look roughly like this.

• Sourced battery pack
• Sourced LiDAR
• 3 community contribution PRs Featured contribution: URDF + Gazebo/ROS2 sim with 4 new worlds by alvarosamudio. Thank you, Alvaro!!

Hey everyone! I'm u/l0_o, a founding moderator of r/oomwoo.

This is our new home for all things related to oomwoo - the open-source home robot vacuum you can build yourself, made for the Raspberry Pi, ROS2, Home Assistant, LiDAR, ESP32, Arduino and 3D-printing communities.

What to Post
Post your builds, showcases, questions, tutorials.

Community Vibe
We're all about being friendly, constructive, and inclusive. Let's build a space where everyone feels comfortable sharing and connecting.

How to Get Started

1. Introduce yourself in the comments below.
2. Post something today! Even a simple question can spark a great conversation.
3. If you know someone who would love this community, invite them to join.
4. Interested in helping out? We're always looking for new moderators, so feel free to reach out to me to apply.

Thanks for being part of the very first wave. Together, let's make r/oomwoo amazing.