Building an Open-Source Robot Vacuum — Meet oomwoo
Building an Open-Source Robot Vacuum — Meet oomwoo
构建开源扫地机器人——认识 oomwoo
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.
今天，我正式启动了 Maker’s Pet 迄今为止最雄心勃勃的项目：oomwoo，一款你可以亲手打造的开源家用扫地机器人。它拥有开放的硬件、固件和软件，并且从第一次提交代码开始就全程公开。无需云端，没有厂商锁定。它利用经济实惠的 2D 激光雷达（LiDAR）绘制家庭地图并实现自主导航，完全本地运行，并能与 Home Assistant 原生集成。如果你对树莓派（Raspberry Pi）、ROS 2、3D 打印感兴趣，或者仅仅是想拥有一台你完全理解并掌控的扫地机器人，那么这个项目就是为你准备的。
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.
关于名字：“oomwoo” 是一个旋转对称字（ambigram）——即使旋转 180 度后读起来依然一样，就像机器人本身在你的地板上四处游走一样。
What oomwoo is
什么是 oomwoo
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.
oomwoo 是一款专为创客社区设计的自制扫地机器人：
- 经济实惠且完全开源——包括硬件、软件和固件
- 基于 ROS 2 / Nav2 的 2D 激光雷达建图与自主导航
- 原生集成 Home Assistant，实现本地控制
- 可 3D 打印、文档齐全、易于改造的底盘
- 本地优先——日常清洁永远无需云端支持
- 家电级品质——绝非一次性玩具
- 从零开始的循序渐进式构建指南，提供完整的物料清单（BOM），让你能自行采购所有零件
- 可选扩展功能——云端功能以及未来的 ROS 2 应用商店（用于自定义扫地机行为）将作为附加层提供。但核心承诺永不改变：扫地机开箱即用，始终在本地运行，无需云端。
Where the project is today
项目现状
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)
目前项目还处于非常早期的阶段——这正是“公开构建”的意义所在。第一个里程碑（v0）是一个基础的、可运行的版本：
- 3D 打印底盘
- ROS 2 Gazebo 仿真
- 带有手动 SLAM 的激光雷达
- 运行在树莓派 5 上的 ROS 2 和/或运行 micro-ROS 的 ESP32（最终架构仍在确定中）
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.
我正在努力实现的开源交付物包括：物料清单、3D 打印文件、ROS 2 软件包、固件、电机驱动与传感器 PCB、完整的构建/启动/故障排除文档以及演示视频。
Build it with me — massively in parallel
与我一起构建——大规模并行开发
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.
oomwoo 的组织方式旨在让社区能够并行开发。机器人及其软件被拆分为独立的模块。你可以选择任何感兴趣的模块，随时进行开发，并通过 Pull Request 提交你的工作。多人可以同时处理同一个模块——最好的解决方案会随着时间推移脱颖而出。
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
目前可以立即开始的模块包括：
- ROS 2 URDF + Gazebo 仿真——机器人模型、TF、保险杠、仿真
- 首次清洁——在 SLAM 建图和探索的同时进行覆盖式清洁
- 集尘盒——设计、3D 打印和测试
- 吸尘风机组件——鼓风机电机、叶轮、蜗壳外壳
If you’d like to jump in, the GitHub repo has the module list, the architecture doc, and contribution guidelines.
如果你想加入，GitHub 仓库中提供了模块列表、架构文档和贡献指南。
Follow along
关注项目进展
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
我将实时分享进展、遇到的瓶颈以及取得的成果：
- GitHub: github.com/makerspet/oomwoo — 代码、文档和讨论
- Discord: 加入构建交流群
- YouTube: build-in-public 频道
- Reddit: r/ArduinoAndRobotics
- X: @0OMWO0
Parts Kit
零件套件
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.
oomwoo 的一切都保持开源——你可以自行采购所有零件。如果你不想费心寻找零件，Maker’s Pet 将提供一套便捷套件（包含电机、PCB、刷子、密封圈、激光雷达），由本项目背后的创客提供。该套件仅为方便起见，绝非强制要求。