OOMWOO Bringup

Open-source robot vacuum you build yourself.

ROS 2 Jazzy · Nav2 · SLAM · Launch · Bringup

ROS 2 bring-up and launch package for the OOMWOO open-source robot vacuum.

A fork of kaiaai/kaiaai_bringup (jazzy), renamed to the oomwoo_bringup package, with navigation.launch.py pointing at oomwoo_gazebo for its default map.

Package contents

• launch/navigation.launch.py — Nav2 + localization, or SLAM with slam:=True.
• launch/physical.launch.py — physical-robot bring-up.
• launch/cartographer.launch.py, explore.launch.py, occupancy_grid.launch.py, monitor_robot.launch.py — mapping / exploration / monitoring.
• launch/inspect_urdf.launch.py, edit_urdf.launch.py, publish_urdf.launch.py — URDF inspection and live-edit helpers.
• script/ — watch_urdf.sh, upload_robot_description_github.sh.

The robot model follows kaia config robot.model (oomwoo_one in the OOMWOO dev image); override on any launch with robot_model:=<description_package>.

Usage

# navigate a known map in simulation
ros2 launch oomwoo_bringup navigation.launch.py use_sim_time:=true

# build a map with SLAM
ros2 launch oomwoo_bringup navigation.launch.py use_sim_time:=true slam:=True

For the OOMWOO headless simulation and the coverage / navigation regressions, see the oomwoo_sim_support harness in oomwoo-ros2-tools.

Credits

Forked from kaiaai/kaiaai_bringup (Apache-2.0). Still depends on the kaiaai ecosystem packages (kaiaai, kaiaai_teleop, kaiaai_telemetry).

License

Apache License 2.0.