Learn, build self-driving Arduino/ROS2 robots with mapping, navigation, LiDAR SLAM
In simulation, our open-source robot vacuum kept grinding to a halt in front of the sofa. The obstacle turned out to be a phantom on the costmap. Here is how we found it by measuring, and the two-part fix that roughly doubled coverage near obstacles.
A concise, copy-paste quickstart for running the OOMWOO robot vacuum entirely headless (no display) — aimed at LLM coding agents, CI, and automation. Every command below is verified against the makerspet/oomwoo:jazzy-dev Docker image (last re-verified 9 Aug 2026). No X server, GPU, or GUI is required; Gazebo renders offscreen with software GL. 1. Start the [ ]
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 you the mechanics of writing and launching an OOMWOO node. More tutorials in this series [ ]
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 Docker on Ubuntu or Windows. You ll get: SLAM mapping, autonomous Nav2 navigation, manual driving, and [ ]
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 the master Bill of Materials (BoM) here. Caution this post may contain errors and [ ]
Tutorial Part 1 got SangamIO running on the vacuum, exposing its motors, wheel encoders, IMU and LiDAR over TCP port 5555. Part 2 connects that to ROS 2 the easy way — a prebuilt Docker image that already bundles everything: ROS 2 Jazzy, the vacuum_ros2_bridge, the proscenic_m6pro robot description, an EKF for odometry, cartographer SLAM, [ ]
Run a full Proscenic M6 Pro vacuum simulation in Gazebo with the oomwoo ROS 2 image: SLAM mapping, autonomous Nav2 navigation, manual driving and bumper sensors no hardware needed.
Turn a Proscenic M6 Pro robot vacuum into a ROS 2 robot: root it over ADB, flash the open-source SangamIO firmware, and bridge its LiDAR, odometry and motors into ROS 2 Jazzy as /scan, /odom and /cmd_vel.
I’m starting a new build-in-public project: oomwoo, an open-source robot vacuum you build yourself. Raspberry Pi, ROS 2, 2D LiDAR, Home Assistant, 3D printed, local-first — and open from the first commit.
lds2d is a pure-Python driver for 2D LiDARs on Linux including the Raspberry Pi — a Pythonic port of the kaiaai/LDS C++ library. lds2d supports 23+ LiDAR models today: Try it in 60 seconds without any hardware Once lds2d launches in demo mode, open http://localhost:8080 in your browser to view live synthetic data. Usage [ ]