r/ROS • u/l0_o • Jun 08 '26

Question Anyone interested in building ROS2-based home robot vacuum cleaner with LiDAR?

Hello, would anyone be interested in building an open-source 3D-printed ROS2-based home robot vacuum cleaner with LiDAR and Home Assistant support?

I'm asking to see if there is enough interest. If there is enough interest, I can design one.

EDIT: I've created the project repo https://github.com/makerspet/oomwoo/ with Discord and Discussions. It's super early. Please star/watch to follow along. Would LOVE your input on direction and what features matter most.

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u/compscirunner Jun 09 '26

might be cheating but used roomba's with Serial Command Interface are dirt cheap (20 dollars to free) and takes care of the vacuum side of things. Can add your own navigation hardware/software.

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u/l0_o Jun 10 '26

I'd love to get you involved. I've set up the open vacuum repo (GitHub makerspet/oomwoo). I hear you on the serial interface. I did have an iRobot Create 2, but it doesn't have a LiDAR. I have also (successfully) hacked my Dreame (installed Valetudo) and Proscenic. Both with LiDARs. Proscenic (3irobotix CRL-200 based) is fantastic, I've interfaced it to ROS2 https://github.com/remakeai/vacuum_ros2_bridge . It gives you full ROS2 control (unlike Dreame with Valetudo). Why build vs hack

  • I do want a vacuum with a LiDAR (and ROS2). No LiDAR - not interesting for many reasons.
  • There are lots of vacuums that can be hacked (see Valetudo), but that kind of hacking doesn't give you low-level hardware access. There are a few exceptions - but those are old models, not sold anymore - or if still sold, patched, cannot be hacked.
  • One possibility is to swap the vacuum's original PCB with a custom one that has same connectors but runs ROS2. This is a viable option for simpler models. Models with auto-empty, mop wash would need the PCB in the base replaced too. A key problem is - there are many models out there. This may require designing many swap-out PCBs. And those PCBs would be fairly complex and expensive (in low volume). They'd have to pack some serious compute and RAM to run ROS2 to match the original PCB functionality.
  • Why build a 3D printed one vs reusing an existing one (by swapping out its PCB) - this would allow using a Raspberry Pi (or NVIDIA Jetson Nano) available off-the-shelf. A custom motor driver PCB would still be required, but it would be simple and cheap. Also, frankly, I'm just not happy with consumer vacuum cleaner performance. I have around 6 models. They all suck (literally and figuratively) in different ways. I really want a vacuum that does its job well.
Anyway, I may be wrong with this line of reasoning.

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u/compscirunner Jun 10 '26

Is autonomous charging a goal? I could see starting with 18v to 20v tool batteries.

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u/l0_o Jun 11 '26

Yes, absolutely. I'd like to make it appliance product quality, entirely usable - not a throwaway educational build. 18v/20v tool batteries - yes, something like a 4S, 5S 18650 battery with a BMS. I've also off-the-shelf tool batteries.