SensorStream, powered by ROS 2 vs Tinca

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

Tinca turns your iPhone or iPad into a custom control panel for any ROS 2 robot. Drag in the widgets you need, connect to your robot, and drive. BUILD YOUR OWN DASHBOARD Start from a blank grid or a template. Drag, drop, and resize widgets to match your exact workflow. Save up to three dashboards, each with separate portrait and landscape layouts, so you are always ready for different robots or tasks. CONNECT YOUR WAY Connect straight to your robot over Wi-Fi using the Foxglove WebSocket protocol or rosbridge, on ws:// or wss://. The connection is direct: no relay in between, no account, no sign-in. Point it at your robot or your bridge, save it, and reconnect with a tap. Zenoh support is on the roadmap. WIDGETS FOR REAL WORK Teleoperation: joysticks, D-pads, and custom buttons. Telemetry: gauges, compasses, plots, and indicator lights. Video: live camera feeds over a topic subscription, MJPEG, or WebRTC. Inspection: topic and parameter tools. SAFETY FIRST An E-Stop is always on screen and one tap away, connected or not. It cancels the goals Tinca started, publishes a zero velocity command to your configured command topic, and disconnects, so it stops what Tinca is commanding. Your robot's own hardware E-stop stays the authority for stopping the machine. HANDCRAFTED, WIDGET BY WIDGET The interface is built with the same care as the connection underneath it. Every widget is drawn to be read at a glance, keeping your data clear and your active controls unmistakable while the robot is moving. NO SUBSCRIPTIONS: FREE AND PRO Free: a fully functional control app. Sixteen core widgets, including joysticks, camera feeds, gauges, and buttons, and both connection protocols. No time limit and no ads. Pro, a one-time purchase: fourteen advanced widgets including Map2D, Laser Scan, Time Series, and Joint Sliders, plus MJPEG and WebRTC video, HUD overlay widgets, and advanced configuration on the free widgets such as joystick curves, deadzones, custom axis mapping, and publish rates. Tinca is built by Auri Labs. It is a control panel for robots you own and operate. Always follow safe operating practices with real hardware.