SensorStream, powered by ROS 2

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