ROS2 Connect Mobile vs SensorStream, powered by ROS 2

ROS2 Connect Mobile puts your ROS 2 robot on your iPhone. Connect to rosbridge over your network, build dashboards for the topics you care about, and follow your robot live: camera feeds, graphs, GPS position and more. Drive it with an on-screen joystick that sends a stop the moment you let go. FEATURES - Dashboards: arrange camera, graph, gauge, text, map and joystick widgets on a grid, with a dashboard for each robot or task - Camera feeds: compressed images (JPEG, PNG) and raw images (rgb8, bgr8, mono8), scaled for smooth display - Graphs: plot any numeric topic, with statistics and a choice of time window - Map: follow a GPS position (NavSatFix) on the map - Joystick: publishes velocity commands (geometry_msgs/Twist, such as /cmd_vel) at a steady 10 Hz, with your own speed limits and deadzone, and stops the robot when you release the stick or leave the app - Topic browser: search every topic on your robot and see its message rate - Reconnects automatically and picks up your dashboard's topics again REQUIREMENTS A robot or computer running ROS 2 (for example Humble or Jazzy) with rosbridge_server and rosapi, on the same network as your iPhone. The connection screen shows how to start them. ROS2 Connect Mobile is an independent project and is not affiliated with Open Robotics. Ideas and bug reports are very welcome through a review or the support page.

SensorStream turns your iPhone into a sensor platform, streaming LiDAR depth, RGB camera, IMU, and GPS data to your host computer over Wi-Fi or USB. Built for robotics prototypers, researchers, or anyone who wants to use the iPhone's powerful built-in sensor suite. SENSOR STREAMS • LiDAR Depth — 256×192 depth frames at up to 30 FPS from front and back (Wide) cameras (requires a LiDAR-equipped iPhone) • RGB Camera — JPEG-compressed colour frames at up to 30 FPS from the wide-angle camera, or front-facing camera • IMU — accelerometer, gyroscope, and quaternion orientation data at a configurable frequency • GPS — GNSS position TRANSPORT OPTIONS • Wi-Fi (TCP) — connect wirelessly over your local network; scan the server's QR code from the app for instant pairing • USB — low-latency wired connection via PeerTalk / iproxy for demanding real-time applications INTEGRATION • Driver for integration with ROS 2 — a companion driver publishes sensor data directly to ROS 2 topics (/depth_image, /color_image/compressed, /imu/data, /gps/fix) using sensor_msgs message types ON-DEVICE PREVIEW • Real-time depth overlay with adjustable min/max range and colour thresholds • Live camera preview • IMU visualiser for orientation feedback • Per-sensor toggles and settings — configure each sensor independently before streaming HOW IT WORKS 1. Start the companion driver on your computer 2. Open SensorStream, go to Settings → Network, and connect via Wi-Fi (scan the QR code or enter IP/port manually) or USB. 3. Enable the sensors you need on the Dashboard. 4. Tap Start Streaming, that's it. REQUIREMENTS • iPhone with iOS 15.6 or later • LiDAR sensor required for depth streaming (iPhone 12 Pro and later) • Host computer running Python 3.9+ and ROS 2 Humble for the companion server