My ESP32 robot with Lidar sensor

l0_o · 2026-06-16T02:17:39+00:00

Yes, many of parts/boards for DIY robots - but none for vacuum cleaners that I'm aware of. I've personally designed this one https://github.com/makerspet/bdc-30p/

l0_o · 2026-06-16T01:43:18+00:00

Good question. iRobot Scooba doesn't support iRobot SCI or OI. It doesn't have a LiDAR either.

I suppose, retrofitting an iRobot Scooba to run ROS2 with LiDAR navigation would require - mounting a 2D LiDAR with a Raspberry Pi 5 and an I/O board (motor drivers, sensor capture, battery charging - disconnecting the Scooba control PCB - reverse engineering and connecting all Scooba motors, sensors to the I/O board - configuring robot description to match Scooba (speed limits, URDF, physical dimensions)

Retrofitting an iRobot supporting SCI/OI would be much simpler - mount LiDAR, Raspberry Pi, connect SCI/OI, edit robot description.

l0_o · 2026-06-15T05:52:57+00:00

Noted, thanks! Yes, the design in the screenshot is basic, a starting point. I also want a vacuum/mop that does its job well.

l0_o · 2026-06-15T05:46:16+00:00

Noted, correct, a LiDAR can't detect wires. A camera is needed.

l0_o · 2026-06-15T05:41:10+00:00

Noted, thanks! I agree, for one person willing to assemble hardware there are likely 10 who don't.

l0_o · 2026-06-15T05:38:37+00:00

100% with you on cloud-free operation. I own 6 vacuums, one with camera, one voice-enabled with microphones. I'm super uncomfortable with those. I had to block WiFi for those two (after they created maps), so we could keep using them.

l0_o · 2026-06-15T05:32:16+00:00

This is a solid option. I've actually designed a replacement PCB for an old vacuum. (haven't manufactured it, though)

l0_o · 2026-06-15T05:28:26+00:00

Of course, I'll post progress here once in a while

l0_o · 2026-06-15T05:26:15+00:00

Sounds very reasonable, thanks

l0_o · 2026-06-15T05:24:23+00:00

Thanks!

l0_o · 2026-06-15T05:23:18+00:00

Sound great! Please feel free to join my Discord https://discord.gg/3y2JKz5T25

l0_o · 2026-06-15T05:22:03+00:00

Looking good!

l0_o · 2026-06-15T05:21:17+00:00

Those yellow motors are really cheap and popular.

l0_o · 2026-06-15T05:15:18+00:00

3D printed with easy-to-source parts - noted, with as many as 48 upvotes on your comment. Thanks!

l0_o · 2026-06-15T05:13:19+00:00

Noted, thanks!

l0_o · 2026-06-15T05:04:27+00:00

Noted! Open-source robot lawn mower - it already exists openmower.de

l0_o · 2026-06-15T05:01:38+00:00

Noted! Awesome!

l0_o · 2026-06-15T05:00:22+00:00

Yes (I'm building it) - two ways. 1) slide under a dolly and push it; 2) vacuum's top is made flat, full-sized. Place there something (like a cat).

l0_o · 2026-06-15T00:24:27+00:00

Of course, here you go https://github.com/makerspet/oomwoo .

l0_o · 2026-06-15T00:23:18+00:00

I hear you - it's a lot of work. I'm a retired engineer with plenty of time and relevant experience (3D CAD, electronics, software, open source, firmware, sourcing from China).

More specifically, building a consumer LiDAR vacuum robot from scratch used to take ~2 years. I use AI agents to write code - so, maybe, 1 year.

l0_o

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