OOMWOO Install

Open-source robot vacuum you build yourself.

Raspberry Pi · ROS 2 · Docker · Ubuntu · Dev environment

Raspberry Pi software + development software for OOMWOO open-source robot vacuum.

Deploy on Raspberry Pi

On your Raspberry Pi 4/5 2GB+ run

git clone https://github.com/makerspet/oomwoo-install
source oomwoo-install/ubuntu/install_oomwoo_runtime_jazzy.sh

Measure the onboard runtime before changing the minimum Pi/CM memory profile:

oomwoo-runtime-benchmark record --help
oomwoo-runtime-benchmark compare --help

The Pi runtime benchmark guide covers repeatable idle, 5 Hz SLAM, and Nav2 runs, ROS 2 composition comparisons, and the measured decision gate for a lower-cost 2 GB target.

Develop OOMWOO software - no hardware needed

The quickest way to try OOMWOO is the ROS 2 development environment in Docker — no robot, GPU, or display required:

docker pull makerspet/oomwoo:jazzy-dev
docker run -d --name oomwoo makerspet/oomwoo:jazzy-dev sleep infinity
docker exec -it oomwoo bash

From there:

• Simulate in Gazebo (headless): Simulate OOMWOO-One in Gazebo with ROS 2 (no hardware needed)
• Write a Hello-World software package
• Install, operate a real (temp placeholder) vacuum cleaner Part 1 and Part 2.
• Simulate temp vacuum cleaner
• Run coverage cleaning (agent quickstart): Headless sim & coverage cleaning for LLM agents
• All tutorials: makerspet.com/learn
• Questions & help: Discord

Commands reference

Run these inside the dev container (docker exec -it oomwoo bash). The default robot model is oomwoo_one; switch it with kaia config robot.model <package> or a robot_model:=<package> launch argument.

Simulate in Gazebo

ros2 launch oomwoo_gazebo world.launch.py                 # with the Gazebo GUI (needs a display)
ros2 launch oomwoo_gazebo world.launch.py headless:=true  # headless (Docker / CI, no display)

Drive the robot

ros2 run kaiaai_teleop teleop_keyboard                                       # keyboard teleop
ros2 topic pub -r 10 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.2}}'   # or publish velocity

Map & navigate (SLAM) — with a world running, in another terminal

ros2 launch oomwoo_bringup navigation.launch.py use_sim_time:=true slam:=True             # build a map
ros2 run nav2_map_server map_saver_cli -f ~/maps/map                                      # save the map
ros2 launch oomwoo_bringup navigation.launch.py use_sim_time:=true map:=~/maps/map.yaml   # navigate a saved map
ros2 launch oomwoo_bringup monitor_robot.launch.py use_sim_time:=true                     # RViz view

Coverage cleaning (headless)

ros2 launch oomwoo_sim_support coverage_regression.launch.py   # sim + Nav2 + coverage planner + meter
ros2 topic echo /coverage_meter/ratio                          # coverage fraction, 0.0 -> 1.0

See the headless sim & coverage cleaning quickstart for the agent/CI workflow.

Inspect sensors

ros2 topic echo /scan                                                 # 2D LiDAR
ros2 topic echo /bumper_left/contact ros_gz_interfaces/msg/Contacts   # front bumpers

Physical robot (placeholder Proscenic M6 Pro) — see the connect and drive, map & navigate tutorials

kaia config robot.model proscenic_m6pro
ros2 launch proscenic_m6pro bringup.launch.py robot_ip:=<robot-ip>
ros2 launch oomwoo_bringup navigation.launch.py slam:=True

Release history

7/24/2026

• Rviz shows cleaning plan
  • ros2 launch oomwoo_bringup monitor_robot.launch.py
  • add /coverage_planner/plan, Fixed Frame = map
• reactive navigation for cleaning
  • experimental, replaces Nav2 for cleaning tasks

ros2 launch oomwoo_sim_support coverage_regression.launch.py gui:=true \
  world:=$(ros2 pkg prefix oomwoo_gazebo)/share/oomwoo_gazebo/worlds/living_room.world \
  map:=$(ros2 pkg prefix oomwoo_sim_support)/share/oomwoo_sim_support/maps/living_room.yaml \
  x_pose:=0.32 y_pose:=1.59 executor:=reactive

7/21/2026

• clean using an existing map; Boustrophedon, clunky, slow, fails often
  • packages in makerspet/oomwoo-ros2-tools
• added bumpers, verified working
• added localization (kidnapped robot); not tested
• forked kaiaai_gazebo, kaiaai_bringup to oomwoo_gazebo, oomwoo_bringup

7/8/2026

• added a first Raspberry Pi 4/5 4GB runtime install plan
• added simulated CPU-MCU serial I/O placeholder

7/1/2026

• added oomwoo-one ROS2 robot description package (simulation only)

6/26/2026

• added https://github.com/remakeai/vacuum_ros2_bridge
  • LiDAR compute moved to vacuum_ros2_bridge

6/18/2026

• added bumper sensors for proscenic-m6pro
• fixed Gazebo living world marble table collision mesh

6/16/2026

• added Proscenic M6 Pro robot description
  • kaia config robot.model proscenic_m6pro