# Conduit, powered by ROS — Stream sensor data to ROS 2

> iOS device to ROS 2 sensor data publisher via Zenoh protocol. (iPhone/iPad app by Yutaka Kondo.)

- Source: https://appshunter.io/ios/app/conduit-powered-by-ros/id6757171237 (this page in markdown: same URL + `.md`)
- Developer: [Yutaka Kondo](https://appshunter.io/developer/1863062257)
- Category: Developer Tools, Utilities
- Price: Free with in-app purchases
- Rating: 4.70/5 from 3 App Store ratings · 2 written reviews indexed
- Age rating: 4+
- Requires: iOS 16.0 · 7 MB
- Released: 2026-01-08
- Data updated: 2026-08-30
- Monetization: free with in-app purchases
- User reviews in markdown: https://appshunter.io/ios/app/conduit-powered-by-ros/id6757171237/reviews.md

## What is Conduit, powered by ROS?

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.

## Key features

- 12 sensor types supported
- Direct ROS 2 integration
- Dual ROS 2 distribution support
- Configurable publishing rates
- Quality of Service configuration
- Background publishing (Premium)

## Pricing and in-app purchases

Base price: Free.

**One-time purchases**

| Purchase | Price | Type |
| --- | --- | --- |
| Recording Export | $2.99 | one-time |
| Back Cameras | $1.99 | one-time |
| Background Mode | $0.99 | one-time |
| LiDAR Sensor | $1.99 | one-time |
| Game Controller | $0.99 | one-time |


## Recent user reviews (2 of 2)

All indexed reviews: https://appshunter.io/ios/app/conduit-powered-by-ros/id6757171237/reviews.md

### 4/5 — Zenoh deserialization error on Host

*2026-01-16*

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.

### 3/5 — Zenoh deserialization error on Host

*2026-01-15*

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!

## Frequently asked questions about Conduit, powered by ROS

### What sensors does Conduit support?

Conduit supports 12 sensor types including IMU, Magnetometer, GPS, Barometer, Illuminance, Cameras, LiDAR, Microphone, Battery, Game Controller, Proximity, and Thermal sensors. Free sensors include IMU, Magnetometer, Barometer, GPS, front camera, battery, proximity, and thermal.

### How does Conduit integrate with ROS 2?

Conduit publishes native ROS 2 messages compatible with rmw_zenoh_cpp, allowing direct integration without a separate bridge. It supports both ROS 2 Humble and Jazzy distributions.

### What are the premium features of Conduit?

Premium features, available via in-app purchase, include access to back cameras, LiDAR/Depth sensor, Game Controller input, and background publishing mode. These enhance the app's utility for advanced robotics projects.

### What are the requirements to use Conduit?

To use Conduit, you need a Zenoh router (rmw_zenohd) running on your local network, ROS 2 Humble or Jazzy with rmw_zenoh_cpp installed, and an iOS device running iOS 16.0 or later.

### Can Conduit publish data in the background?

Yes, background publishing is a premium feature available through an in-app purchase. This allows you to continue streaming sensor data even when the app is not actively in the foreground.

### What is the update frequency for Conduit?

The app was last updated on March 5, 2026, indicating active development. Users can configure publishing rates for individual sensors from 1-100Hz.

### What is the user sentiment for Conduit?

Conduit has a rating of 4.5 stars from 2 ratings, suggesting a generally positive user experience among its current user base.

### Does Conduit have ads?

No, Conduit does not have advertisements. The app is free to download and use, with optional premium features available through in-app purchases.

## Version history (last 5 releases)

### 2.2.5 — 2026-06-16

• 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.

### 2.2.4 — 2026-06-14

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.

### 2.2.3 — 2026-06-11

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.

### 2.2.2 — 2026-06-10

Upgraded the underlying ROS 2 client library to swift-ros2 1.2.

### 2.2.1 — 2026-05-19

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.

## Related topics

[conduit](https://appshunter.io/ios/topics/conduit) · [vescent](https://appshunter.io/ios/topics/vescent)

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*Data collected daily from the US App Store and indexed by [AppsHunter](https://appshunter.io/). User reviews are verbatim App Store reviews. Ratings, prices and chart positions refresh continuously; this snapshot is from 2026-08-30.*