SensorStream, powered by ROS 2
No in-app products collected for this app.
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Description
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