Conduit, powered by ROS

Name: Conduit, powered by ROS
Rating: 4.7 (3 reviews)
Author: Yutaka Kondo

Stream sensor data to ROS 2

Free · In‑App Purchases

3 Ratings
Age Rating

4+
Years
Category

Developer Tools
Developer

Yutaka Kondo
Size

6.3
MB

Stream 12 live sensors from iPhone / iPad / Mac / Vision Pro to ROS 2 — now over Zenoh or DDS (CycloneDDS), no bridge required. 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.

Ratings & Reviews

4.7

out of 5

3 Ratings

Zenoh deserialization error on Host
Jan 16

resonant_flux43
This is a brilliant idea for an app for robotics research. However, there seem to be some teething issues. I purchased the pro-sensors and wanted to test out the functionality. Looks like the Zenoh discovery service is able to detect the conduit node and the topics being published by the app. However, attempting to echo the topic or launching an Rviz2/Foxglove application to view the topic immediately crashes the thread being used to view the topic with the following error: “zenohc::serialization: Failed to deserialize the payload” deserialization error” It further says that the thread ‘rx-1’ panicked in a function that cannot unwind. Please note that I am using the IPad Pro (Tahoe) and the host machine is running ROS2 Jazzy on WSL-Ubuntu24. Not a firewall issue. Happens with any and all topics selected in the app. The app does register the packets going out. Looking forward to seeing this issue resolved. Good luck!Update: Issue does not come up when using ROS2 Humble on Ubuntu 22. The app works perfectly in this scenario.

Developer Response
Thanks for the very detailed report, and great to hear ROS 2 Humble on Ubuntu 22 works end-to-end.The "Failed to deserialize the payload" panic from rmw_zenoh on Jazzy is almost always a wire-format mismatch — Humble and Jazzy use different Zenoh key expressions and type hashes, and Conduit needs to know which one your host is running. Could you check the app's Settings → Wire Mode? If it's set to "auto" and detection picked the wrong distro, pinning it manually to "jazzy" (and making sure the type hash field is filled in from `ros2 topic info /your_topic --verbose`) usually resolves it.If you'd rather track this with logs attached, please open an issue at https://github.com/youtalk/conduit-support and we'll dig in.
Zenoh deserialization error on Host
Jan 16

resonant_flux43

This is a brilliant idea for an app for robotics research. However, there seem to be some teething issues. I purchased the pro-sensors and wanted to test out the functionality. Looks like the Zenoh discovery service is able to detect the conduit node and the topics being published by the app. However, attempting to echo the topic or launching an Rviz2/Foxglove application to view the topic immediately crashes the thread being used to view the topic with the following error: “zenohc::serialization: Failed to deserialize the payload” deserialization error” It further says that the thread ‘rx-1’ panicked in a function that cannot unwind. Please note that I am using the IPad Pro (Tahoe) and the host machine is running ROS2 Jazzy on WSL-Ubuntu24. Not a firewall issue. Happens with any and all topics selected in the app. The app does register the packets going out. Looking forward to seeing this issue resolved. Good luck!Update: Issue does not come up when using ROS2 Humble on Ubuntu 22. The app works perfectly in this scenario.
Developer Response May 20
Thanks for the very detailed report, and great to hear ROS 2 Humble on Ubuntu 22 works end-to-end.The "Failed to deserialize the payload" panic from rmw_zenoh on Jazzy is almost always a wire-format mismatch — Humble and Jazzy use different Zenoh key expressions and type hashes, and Conduit needs to know which one your host is running. Could you check the app's Settings → Wire Mode? If it's set to "auto" and detection picked the wrong distro, pinning it manually to "jazzy" (and making sure the type hash field is filled in from `ros2 topic info /your_topic --verbose`) usually resolves it.If you'd rather track this with logs attached, please open an issue at https://github.com/youtalk/conduit-support and we'll dig in.

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.

Version 2.2.1 May 19

Data Not Linked to You

The following data may be collected but it is not linked to your identity:
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- Diagnostics

Privacy practices may vary, for example, based on the features you use or your age. Learn More

Accessibility

Information

Seller: Yutaka Kondo
Size: 6.3 MB
Category: Developer Tools
Compatibility: Requires iOS 16.0 or later.

iPhone
Requires iOS 16.0 or later.

iPad
Requires iPadOS 16.0 or later.

Mac
Requires macOS 13.0 or later and a Mac with Apple M1 chip or later.

Apple Vision
Requires visionOS 1.0 or later.
Age Rating: 4+

4+

Learn More
In-App Purchases: Yes

Background Mode $0.99

LiDAR Sensor $1.99

Back Cameras $1.99

Game Controller $0.99

Recording Export $2.99

Learn More

Developer Website

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Conduit, powered by ROS

Ratings & Reviews

Zenoh deserialization error on Host

What’s New

App Privacy

Data Not Linked to You

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