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Download Conduit on the App Store # Conduit

Transform your Apple devices into ROS 2 sensor publishers

Stream real-time sensor data directly to your robotics system via Zenoh or DDS — pick the transport that matches your ROS 2 setup. No bridge, no rcl / rclcpp, no CMake on a non-Linux host. Used cumulatively by 10,000+ ROS 2 developers worldwide — has ranked as high as #4 in the App Store's Developer Tools category (Japan) since January 2026.

ROS 2 Built on swift-ros2

Demo Videos

Teleoperation Demo
Teleoperation
Control robots using Game Controller sensor via ROS 2 joy messages 		Camera & LiDAR Demo
Camera & LiDAR
Stream iPhone camera images and LiDAR point clouds to ROS 2 		Onboarding Demo
Getting Started
Step-by-step guide to connect Conduit with your ROS 2 system

Built on swift-ros2

All ROS 2 wire work — Zenoh / DDS FFI, XCDR v1 codec, Humble/Jazzy/Kilted/Rolling wire codecs, the publisher/subscription API — is delegated to swift-ros2, a native Swift client library for ROS 2 that was extracted from Conduit and now ships independently.

swift-ros2 covers every consumer device OS that runs Swift: iOS / iPadOS / macOS / Mac Catalyst / visionOS (pre-built xcframeworks via SwiftPM), plus Linux (Ubuntu 22.04 / 24.04, x86_64 + aarch64), Windows (x86_64), and Android (arm64-v8a + x86_64) via source build. By worldwide market share, that's roughly 90%+ of identifiable consumer devices — phones, tablets, laptops, headsets, SBCs — all able to publish and subscribe through the same SwiftPM-resolvable package.

If you want to wire your own Swift app into a ROS 2 graph (rather than use Conduit as a black-box sensor publisher), swift-ros2 is the SDK underneath this app.

Features

Platform Sensors
iOS / iPadOS 16+ All 12 sensors
visionOS 1+ Camera, IMU, Game Controller
macOS 13+ (Mac Catalyst) Camera, Battery, Game Controller

Transports

Transport ROS 2 RMW Bridge required Best for
Zenoh rmw_zenoh_cpp Yes (Zenoh router) Cross-subnet, WAN, corporate networks
DDS rmw_cyclonedds_cpp No (direct) Same-LAN, standard ROS 2

See TRANSPORTS.md for a detailed comparison.

12 Sensor Types

  • Motion: IMU (100Hz) · Magnetometer (100Hz) · GPS (1Hz) · Proximity (10Hz)
  • Perception: Camera (30Hz) · LiDAR (30Hz) · Microphone (audio_common_msgs/AudioData, streaming)
  • Environment: Barometer (10Hz) · Illuminance (10Hz) · Thermal (1Hz)
  • Input: Game Controller (50Hz)
  • Status: Battery (1Hz)

MCAP Recording

Capture every published topic to a local MCAP file with one tap, replay it later in Foxglove, ros2 bag play, or any MCAP-aware tool. Recordings live in the app's Documents directory and ship out via the standard share sheet (Files, AirDrop, Mail, …) — Conduit never uploads them. Schemas are written into the MCAP header automatically so the bag round-trips through any reader without external .msg files.

Same wire path as live publishing: the same XCDR v1 encoder from swift-ros2 feeds both the Zenoh / DDS publisher and the MCAP writer, so the on-disk bytes match what arrives on the ROS 2 graph.

In-App Purchases

A core slice (IMU, Magnetometer, GPS, Proximity, Barometer, Illuminance, Thermal, Battery, Microphone, Front camera) ships free. Wide / Ultra-wide / Telephoto cameras, LiDAR, Game Controller, Background publishing, and MCAP Recording are unlocked individually via App Store In-App Purchases.

Screenshots

Main Tabs

Motion Sensors
Motion
IMU, GPS, Magnetometer, Proximity 		Perception Sensors
Perception
Microphone, Camera, LiDAR 		Status Sensors
Status
Battery, Thermal, Barometer, Illuminance, Game Controller 		Recordings
Recordings
MCAP bags — record alongside or instead of live publishing

Onboarding & Settings

Setup Communication
1. Setup Communication
Pick Zenoh or DDS, follow the host-side recipe 		Switch Transport Anytime
2. Switch Transport Anytime
Change transport, router, or discovery later from Settings 		Start Publishing or Recording
3. Publish or Record
Tap Play to stream, or Record to save an MCAP file 		Settings
Settings
Transport, Domain ID, Device IP, Router address

Quick Start

  1. Download from the App Store
  2. Choose your transport — see TRANSPORTS.md

Quick Start — Zenoh

  1. Start the Zenoh router on your ROS 2 system: 
    source /opt/ros/jazzy/setup.bash
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
export ROS_DOMAIN_ID=0  # Valid range: 0-232
ros2 run rmw_zenoh_cpp rmw_zenohd
  2. In the Conduit app: Settings → Transport: Zenoh, enter the host IP and port 7447, set Domain ID to match.
  3. Enable sensors and tap Play.
  4. Verify: ros2 topic echo /conduit/imu

Quick Start — DDS

  1. On your ROS 2 host: 
    source /opt/ros/jazzy/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export ROS_DOMAIN_ID=0  # Valid range: 0-232

# If you previously ran ros2 commands under a different RMW
# (e.g. rmw_zenoh_cpp), restart the cached ros2 daemon so it picks up
# the new RMW_IMPLEMENTATION / ROS_DOMAIN_ID / CYCLONEDDS_URI.
ros2 daemon stop
ros2 daemon start          # optional — `ros2 topic list` will autostart it

ros2 topic list
  2. In the Conduit app: Settings → Transport: DDS, Discovery Mode: Hybrid, add the host IP to Unicast Peers, Network Interface: en0, set Domain ID to match.
  3. Enable sensors and tap Play.
  4. Verify: ros2 topic echo /conduit/imu --qos-reliability best_effort

Note: Re-run ros2 daemon stop any time you change RMW_IMPLEMENTATION, ROS_DOMAIN_ID, CYCLONEDDS_URI, or the unicast peer list — the daemon caches the first context and silently ignores later env-var changes. See TROUBLESHOOTING.md for the full failure mode.

Docker Test Environments

Zenoh Router (Docker)

Pre-built images on ghcr.io: 

# ROS 2 Jazzy
docker run -d -p 7447:7447 --name ros_jazzy_zenoh ghcr.io/youtalk/conduit-support:jazzy
# ROS 2 Humble
docker run -d -p 7447:7447 --name ros_humble_zenoh ghcr.io/youtalk/conduit-support:humble

Or with Docker Compose: 

git clone https://github.com/youtalk/conduit-support.git
cd conduit-support/docker

# Default domain ID (0)
docker compose up ros-jazzy -d

# Custom domain ID via .env (recommended for persistence)
echo "ROS_DOMAIN_ID=5" > .env
docker compose up ros-jazzy -d

# Or override per-invocation
ROS_DOMAIN_ID=5 docker compose up ros-jazzy -d

# Stop
docker compose down

DDS Subscriber (Docker, Linux only)

macOS note: Docker Desktop on macOS does not provide true host networking, so the container cannot receive DDS traffic from an iOS device on the same LAN. On macOS, run your DDS subscriber natively or in a Parallels/UTM VM.

cd conduit-support/docker
echo "ROS_DOMAIN_ID=0" > .env
docker compose -f compose-dds.yml up -d

# Verify
docker exec -it ros_jazzy_dds bash
source /opt/ros/jazzy/setup.bash
ros2 topic list
ros2 topic echo /conduit/imu --qos-reliability best_effort

See docker/README.md for the complete Docker guide.

Documentation

Support