Conduit, powered by ROS
Yutaka Kondo · Developer Tools
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Chart standing · US
What changed · US
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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.
In-app purchases · US
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About
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.
What's new · 2.4.0
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.
Details