Conduit, powered by ROS vs iRTSP

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.

iRTSP turns your iPhone into a professional RTSP camera server. Stream your camera and microphone live over your local network to any standard player — VLC, ffmpeg, OBS, Blender, or your own code — with a full suite of time-synchronized sensor channels for robotics, AR, and computer-vision work. STREAMING • Standard RTSP (RFC 2326) server — connect from VLC, ffmpeg, OBS, or any RTSP client • H.264 or HEVC video with AAC audio and RTCP audio/video sync • Front or back cameras, multi-lens zoom • Optional username / password authentication • Bonjour discovery — the app shows its rtsp:// URL and a scannable QR code PRO CAMERA CONTROLS • Manual ISO, shutter, focus, white balance, and exposure • AF / AE / AWB locks, EV compensation, torch control • Apple Log on supported devices • Save and recall named, color-coded camera profiles SENSOR DATA FOR VIO / ROBOTICS / AR (all opt-in) • IMU: accelerometer, gyroscope, and fused device motion, with live camera intrinsics • GPS location, compass heading, and barometric altitude • LiDAR metric depth on Pro devices • ARKit 6DOF world-tracking pose Every stream is time-stamped against the same clock as the video, so the data lines up frame-for-frame. PRIVACY Everything streams peer-to-peer on your own Wi-Fi or hotspot. No account, no cloud, no data collection — nothing ever leaves your local network. iRTSP is built for makers, researchers, and anyone who needs a high-quality, low-latency iPhone camera and sensor feed.