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.