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