OOMWOO 是一款开源的 DIY 家用扫地机器人，基于 Raspberry Pi、3D 打印、Home Assistant、Arduino 和 ROS2 构建。它通过价格亲民的 2D 激光雷达（LiDAR）绘制家居地图并自主导航。数据本地化，日常功能无需云端，也没有厂商锁定。

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. 

GitHub - makerspet/oomwoo: Open-source vacuum robot cleaner · GitHub

Goals

• Affordable, fully open hardware, software and firmware
• Home appliance product quality - not a throwaway build
• Easy to build, with step-by-step zero-to-hero instructions
• 2D LiDAR mapping and autonomous navigation (ROS2 / Nav2)
• Native Home Assistant integration for local control
• 3D-printable, documented, and hackable chassis
• Buildable from parts you source yourself
• Local, no cloud required for regular functionality
• Optional extra functionality when connected cloud
• Apps on top of ROS2 to customize vacuum operation
• Stretch goal: App store
• Stretch goal: LeRobot integration, OpenClaw

v0 target: bare-bones build:

• 3D-printed chassis (browse)
• ROS2 Gazebo sim (install)
• Basic cleaning, mapping
• Raspberry Pi CM4/CM5 running ROS2 (install)

Open Source Deliverables:

•  Software development environment, robot description package and tutorials (ROS2)
•  Placeholder real vacuum cleaner and tutorials (temporary while OOMWOO is being designed)
•  Bill of materials (BoM) (rough version available)
•  3D-scanned sourced parts
•  3D-printable files
•  Raspberry Pi software
•  Motor drivers, sensors PCB boards
•  I/O PCB firmware
•  Build, setup, bringup and troubleshooting instructions
•  Demo video(s)

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