Starting a physical OOMWOO build + step-by-step build log (live-robot-bringup)

[Abhinavkrishna3211]

Hi everyone! I'm Abhinav, a maker and embedded systems & robotics engineer from Kerala, India. I work across robotics, embedded systems, IoT, TinyML and physical AI.

Current setup: OOMWOO Jazzy/Gazebo sim via oomwoo-install, FDM 3D printers, and bench tools for bring-up.

What I'd like to do (live-robot-bringup):

• Build a bench prototype from the current BOM: Roborock-family drive wheels, LiDAR, Pi 5 / CM4, and a Nucleo-G474RE standing in for the I/O board until the PCB is ready.
• Design a simple temporary test chassis so I can start testing on real hardware while the reference CAD is in progress. It will use the scanned part models from oomwoo-one-cad/lib and follow the reference layout where possible (wheel spacing, LiDAR height, caster position). This is purely a test platform, not a replacement for the official design; I'll share the source files (Fusion 360 + STEP).
• Bring up the ROS 2 stack on real hardware, re-run the sim acceptance tests on real floors, and document the sim-to-real gaps with logs and video.
• Keep a step-by-step build log (sourcing, printing, wiring, flashing, bring-up, troubleshooting) under contributions/live-robot-bringup/Abhinavkrishna3211/, which could later feed BUILD_INSTRUCTIONS.md.
• Add sourcing notes: where each BOM part can be found, prices, lead times and alternatives, including options outside the US.

Questions:

1. For the test chassis, are there key dimensions from the reference design I should match (wheelbase, LiDAR height, caster and bumper positions)?
2. Is a build log under contributions/ the right home for this, or would you prefer a different structure?
3. Is there anything you'd like measured or validated on the bench while I build?

I'll post progress updates in this thread. Thanks!

[makers-pet]

Hi @Abhinavkrishna3211 , sounds good!

As far as matching dimensions, I'd recommend matching dimensions, wheel base and LiDAR location/height in the official ROS2 Gazebo simulation model https://github.com/makerspet/oomwoo_gazebo . Why? This would make existing simulations, tests and tuning translate to your setup.