Run OOMWOO on a Smartphone: ROS 2 on Android with Termux
OOMWOO will be able to use an old Android phone instead of a Raspberry Pi CM4/CM5. Step one: ROS 2 in Termux - options, instructions and measured proot overhead on a Pixel 7.
Tag Robot Vacuum
How I 3D print gears using POM (Delrin)
POM (Delrin) is the gear plastic in consumer robot vacuums, and notoriously hard to 3D print. Here is how I print it reliably: two sacrificial PETG layers first, then POM.
OOMWOO PCBs – what we are building, how and why
A module-by-module tour of the OOMWOO robot vacuum main board: compute, real-time control, power, fail-safe design, motors, sensors, audio and how we pick parts.
How OOMWOO’s 3D design gets made
OOMWOO’s mechanical design is not drawn from a blank sheet. It starts by researching ready-made parts that can’t be 3D printed (motors/sensors), capturing their dimensions, tearing down and reverse-engineering consumer vacuums to learn the state-of-the-art – and remaking that into…
OOMWOO hardware bring-up: wheels, fans and brushes
OOMWOO is built from sourced vacuum parts – Roborock drive wheels, off-the-shelf blower fans, iRobot cliff sensors. Before the I/O board can be laid out, each part has to be brought up on the bench: identify the connector, work out…
OOMWOO Vacuum – Build Instructions
Future home for OOMWOO open-source vacuum cleaner robot build instructions. Bring-up notes for the sourced motors, fans and sensors – connectors, pinouts and measured currents – are in hardware bring-up, and the CAD pipeline behind these parts is in how…
How OOMWOO cleaning algorithms work
Here are issues we've ran into building OOMWOO open-source vacuum's cleaning, mapping and navigation - and our solutions.
Write Your First OOMWOO ROS 2 Package: Cover the Floor While Mapping
This is the “hello world” of developing for OOMWOO. It’s deliberately simple — a reactive “drive forward, turn when blocked” coverage that, combined with SLAM, maps and roughly covers a room. Proper boustrophedon coverage is the clean-and-map RFC; this teaches…
Simulate OOMWOO-One Robot Vacuum in Gazebo with ROS 2
OOMWOO is an open-source robot vacuum you build yourself. oomwoo-one is the first model. This tutorial gets its ROS 2 simulation running in Gazebo so you can develop mapping, navigation, and cleaning behaviours with no hardware — everything runs in…
How-to: Source BOM for OOMWOO Open-Source Vacuum Robot
I started by drafting a list of parts and deciding which have to be sourced – and which should be 3D printed. I searched each part on AliExpress to see what is available abundantly – and at what price. Find…