Conduit, powered by ROS2.4.0 - App Store

Conduit transforms your iOS device into a powerful ROS 2 sensor publisher. Stream real-time sensor data directly to ROS 2 systems via Zenoh protocol - no bridge required.

FEATURES:
- 12 Sensor Types: IMU, Magnetometer, GPS, Barometer, Illuminance, Cameras, LiDAR, Microphone, Battery, Game Controller, Proximity, and Thermal sensors
- Direct ROS 2 Integration: Publishes native ROS 2 messages compatible with rmw_zenoh_cpp
- Dual Version Support: Works with both ROS 2 Humble and Jazzy distributions
- Configurable Publishing: Adjust rates from 1-100Hz per sensor
- Quality of Service: Full ROS 2 QoS configuration (reliability, durability, history)
- Background Publishing: Continue streaming data while app is in background (Premium)

FREE SENSORS:
- IMU (accelerometer + gyroscope) at up to 100Hz
- Magnetometer for compass/heading data
- Barometer for altitude estimation
- GPS location with NavSatFix messages
- Front camera with compressed images
- Battery state monitoring
- Proximity and thermal sensors

PREMIUM FEATURES (In-App Purchase):
- Back Cameras (Wide, Ultra Wide, Telephoto)
- LiDAR/Depth sensor (iPhone 12 Pro and later)
- Game Controller input
- Background publishing mode

USE CASES:
- Mobile robotics research and development
- Sensor fusion experiments
- Real-world ROS 2 testing on iOS
- Data collection for ML/AI training
- Educational robotics projects

REQUIREMENTS:
- Zenoh router (rmw_zenohd) running on local network
- ROS 2 Humble or Jazzy with rmw_zenoh_cpp
- iOS 16.0 or later

This app is designed for robotics developers and researchers who want to integrate iOS sensor data into their ROS 2 workflows.

Version History New: Publish only when subscribed
- A new setting in Settings → Publishing sends a topic only while a ROS 2 subscriber is connected. Sensors keep running, topics nobody listens to send no data, and a new subscriber's first message is captured after it subscribed, so ros2 topic echo --once takes a fresh picture.
- Sensor rows show "Waiting for subscriber" while their topic has no subscribers.

More reliable connections
- Publishing reconnects on its own after a router restart or a Wi-Fi drop, and keeps retrying until the router is back.
- The app stays responsive when the network stalls: sending no longer runs on the main thread, so a frozen router can no longer freeze the screen or get the app closed.
- /tf_static comes back after a router restart, and late-joining Zenoh subscribers receive it right away.
- A brief connection error right after launch is retried instead of showing "Connection Failed".

Under the hood
- Updated swift-ros2 (zenoh-pico 1.7.1; DDS on CycloneDDS 11.0.1).
- Fixed a case where stopping a recording right after starting it kept recording work running in the background. 2.4.0 2d ago ROS 2 Lyrical Luth
• Conduit now supports ROS 2 Lyrical Luth. Choose your host's release in Settings → Distribution. New installs start on Lyrical; a distribution you already picked is kept.

LiDAR depth images
• A new LiDAR output mode publishes a depth image aligned with the wide camera (16UC1, millimeters) with its camera info, instead of or alongside the point cloud.
• Point clouds, depth and camera images from the AR session now carry the frame's capture time, so they line up exactly.

Standard ROS frames (behavior change)
• Frames follow REP-103: a /tf_static tree for Portrait or Landscape mounting, with standard camera optical frames.
• IMU follows REP-145: linear acceleration is the specific force and orientation is relative to ENU. If your pipeline relied on the old axes, please check it after updating.

Settings and reliability
• Settings is reorganized around the connection, with drill-down pages.
• The AR session restarts itself after a failure, and LiDAR processing no longer runs on the main thread.
• Illuminance now asks before running together with LiDAR or a camera, since they share the camera.
• The ROS 2 domain ID is limited to 0–232, and saved settings are kept even when a setting is missing. 2.3.0 6d ago • LiDAR bandwidth fix: with point-cloud compression enabled, Conduit now publishes only the Draco-compressed cloud instead of sending the raw and compressed clouds together — substantially reducing the data Conduit puts on the network.

• Camera lens fix: the ultra-wide and telephoto lenses now require LiDAR to be turned off. In LiDAR mode only the standard wide (1×) camera is available, so selecting another lens previously had no visible effect. 2.2.5 Jun 16 This update fixes recordings and improves DDS over Wi-Fi.

Recording
• Recordings now open cleanly in Foxglove Studio and Lichtblick — no more "unindexed file" alert.
• The camera and every enabled sensor are now included in recordings.
• Point clouds and cameras are placed correctly in 3D (the transform tree is now recorded).

DDS over Wi-Fi
• Clearer setup guidance and added diagnostics for unicast discovery.

Thank you for the detailed bug reports that made these fixes possible. 2.2.4 Jun 14 Fixes MCAP recordings: embedded message schemas are now valid ros2msg definitions, so recorded .mcap files open correctly in Foxglove Studio and Lichtblick. Previously some topics showed schema parse errors and no message data. 2.2.3 Jun 11 Upgraded the underlying ROS 2 client library to swift-ros2 1.2. 2.2.2 Jun 10 Conduit streams 12 live sensors from your iPhone, iPad, Mac (Apple Silicon via Mac Catalyst), or Apple Vision Pro to any ROS 2 host — no host-side bridge or sidecar required.

Supported sensors
• IMU (accelerometer + gyroscope, 100 Hz)
• Magnetometer / compass (100 Hz)
• Barometer (10 Hz)
• Ambient light / illuminance (10 Hz)
• GPS / NavSatFix (1 Hz)
• Camera, JPEG-compressed (30 Hz, front and back)
• LiDAR point cloud (30 Hz, iPhone 12 Pro and later; optional Draco compression)
• Microphone (streaming)
• Battery state (1 Hz)
• MFi game controller (50 Hz)
• Proximity (10 Hz)
• Thermal / temperature (1 Hz)

Transports
• Zenoh via zenoh-pico → rmw_zenoh_cpp (no bridge).
• CycloneDDS → rmw_cyclonedds_cpp (no bridge).
Switch between the two at any time from inside the app.

ROS 2 distributions: Humble, Jazzy, Kilted, Rolling. Conduit auto-detects the wire format on the other end.

Recording: capture any combination of published topics to an MCAP file on-device and share via the standard iOS/macOS share sheet. 2.2.1 May 19 Added microphone sensor support. Stream audio data to ROS 2 in real time using audio_common_msgs/AudioData format. The app now supports 12 sensor types in total. 1.5 Mar 5 Version 1.4

【New Features】
• LiDAR point cloud compression support - significantly reduces data transfer
• Per-sensor frame rate configuration

【Improvements】
• Increased camera default frame rate to 30 Hz
• Increased LiDAR default frame rate to 30 Hz

【Bug Fixes】
• Fixed local network permission timing on first connect
• Fixed camera settings issues 1.4 Jan 19 Version 1.2
- Adaptive Layout: New 3-column layout for iPad and Mac Catalyst provides better visibility of all sensor categories at once

Version 1.3
- ROS Domain ID Support: Configure ROS 2 Domain ID (0-255) directly in the app settings to match your robot's ROS_DOMAIN_ID 1.3 Jan 12 1.1 Jan 8