Conduit, powered by ROS

• LiDAR bandwidth fix: with point-cloud compression enabled, Conduit now publishes only the Draco-compressed cloud instead of sending the raw and compressed clouds together — substantially reducing the data Conduit puts on the network. • Camera lens fix: the ultra-wide and telephoto lenses now require LiDAR to be turned off. In LiDAR mode only the standard wide (1×) camera is available, so selecting another lens previously had no visible effect.

This update fixes recordings and improves DDS over Wi-Fi. Recording • Recordings now open cleanly in Foxglove Studio and Lichtblick — no more "unindexed file" alert. • The camera and every enabled sensor are now included in recordings. • Point clouds and cameras are placed correctly in 3D (the transform tree is now recorded). DDS over Wi-Fi • Clearer setup guidance and added diagnostics for unicast discovery. Thank you for the detailed bug reports that made these fixes possible.

Fixes MCAP recordings: embedded message schemas are now valid ros2msg definitions, so recorded .mcap files open correctly in Foxglove Studio and Lichtblick. Previously some topics showed schema parse errors and no message data.

Conduit streams 12 live sensors from your iPhone, iPad, Mac (Apple Silicon via Mac Catalyst), or Apple Vision Pro to any ROS 2 host — no host-side bridge or sidecar required. Supported sensors • IMU (accelerometer + gyroscope, 100 Hz) • Magnetometer / compass (100 Hz) • Barometer (10 Hz) • Ambient light / illuminance (10 Hz) • GPS / NavSatFix (1 Hz) • Camera, JPEG-compressed (30 Hz, front and back) • LiDAR point cloud (30 Hz, iPhone 12 Pro and later; optional Draco compression) • Microphone (streaming) • Battery state (1 Hz) • MFi game controller (50 Hz) • Proximity (10 Hz) • Thermal / temperature (1 Hz) Transports • Zenoh via zenoh-pico → rmw_zenoh_cpp (no bridge). • CycloneDDS → rmw_cyclonedds_cpp (no bridge). Switch between the two at any time from inside the app. ROS 2 distributions: Humble, Jazzy, Kilted, Rolling. Conduit auto-detects the wire format on the other end. Recording: capture any combination of published topics to an MCAP file on-device and share via the standard iOS/macOS share sheet.