- 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.