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Preview 3 platforms
iPhone 8 images
iPad 7 images
Mac 8 images
What’s New Version 2.2.5
• 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.
Description
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.
Capabilities
In-App Purchases
Accessibility
ipadiphonemacrealityDevicetvoswatch
Version history 9 versions
Build 887023506v2.2.52026-06-16 18:00:55
• 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.
Build 886937251v2.2.42026-06-14 17:45:39
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.
Build 886802662v2.2.32026-06-11 15:17:16
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.
Build 886625589v2.2.22026-06-10 22:10:48
Upgraded the underlying ROS 2 client library to swift-ros2 1.2.
Build 885489919v2.2.12026-05-19 19:39:46
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.
Build 882981607v1.52026-03-05 06:28:28
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.
Build 881601167v1.42026-01-19 14:58:03
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
Build 881374076v1.32026-01-12 14:37:47
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
Build 881085702v1.12026-01-08 19:11:13
No pricing data captured yet — comparisons appear once the app has paid storefronts or in-app purchases.
Availability 1 of 1 storefronts
| Region | Language | Price | Ratings | Avg | Version |
|---|---|---|---|---|---|
| US | en-US | Free | 3 | 4.7 | 2.2.5 |
Change log 13 changes · US
✎
releaseNotes updated
• LiDAR bandwidth fix: with point-cloud compression enabled, Conduit now publishes only the Draco-compressed cloud instead of sending the raw and compressed clo
✎
description updated
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
✎
subtitle updated
Stream sensor data to ROS 2
✎
name updated
Conduit, powered by ROS
◆
Version 2.2.5 released
• 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.
• C
◆
Version 2.2.4 released
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.
• P
◆
Version 2.2.3 released
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.
◆
Version 2.2.2 released
Upgraded the underlying ROS 2 client library to swift-ros2 1.2.
◆
Version 2.2.1 released
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)
• Ma
◆
Version 1.5 released
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.
◆
Version 1.4 released
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
◆
Version 1.3 released
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
◆
Version 1.1 released