OOMWOO Gazebo

Open-source robot vacuum you build yourself.

ROS 2 Jazzy · Gazebo · Worlds · Models · Contact sensors · Simulation

Gazebo worlds and models for the OOMWOO open-source robot vacuum simulation.

A fork of kaiaai/kaiaai_gazebo (jazzy), renamed to the oomwoo_gazebo package. The one functional change from upstream: living_room.world loads the world-level gz-sim-contact-system, so the robot's bumper/contact sensors actually publish — without it the contact topics exist but stay permanently silent (see oomwoo-one/docs/sim-bumpers.md).

Package contents

• worlds/ — living_room.world (the cluttered test world, with the contact system), plus empty.world and the TurtleBot3 worlds.
• models/ — furniture and prop meshes used by the worlds.
• map/ — saved maps aligned to the worlds.
• launch/ — world.launch.py (spawn a world + robot), self_drive_gazebo.launch.py (simple wander behaviour).
• src/, include/oomwoo_gazebo/ — the self_drive_gazebo C++ node.

Usage

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

For the OOMWOO headless simulation and the coverage / navigation regressions, this package is driven by the oomwoo_sim_support harness in oomwoo-ros2-tools — see that repo for the full sim workflow.

Credits

Forked from kaiaai/kaiaai_gazebo (Apache-2.0). Initial versions are based on ROBOTIS TurtleBot3 simulations.

License

Apache License 2.0.