Conduit, powered by ROS

Beschreibung

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.

• 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.

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Anbieter

Yutaka Kondo

Kategorie

Developer Tools

Version

2.2.5

Erfordert

iOS 16.0+

Größe

6.7 MB

Altersfreigabe

4+