# Conduit 3 sneak peek: drive robots and move arms from your iPhone

**URL:** <https://discourse.openrobotics.org/t/conduit-3-sneak-peek-drive-robots-and-move-arms-from-your-iphone/59063>\
**Category:** Projects\
**Tags:** ros2, moveit, iphone, zenoh, nav2\
**Created:** [October 22, 2026, 3:17pm UTC](https://discourse.openrobotics.org/t/conduit-3-sneak-peek-drive-robots-and-move-arms-from-your-iphone/59063 "2026-10-22T15:17:49Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![youtalk](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/youtalk/32/31801_2.png) [@youtalk](https://discourse.openrobotics.org/u/youtalk)\
**Post date:** [October 22, 2026, 3:17pm UTC](https://discourse.openrobotics.org/t/conduit-3-sneak-peek-drive-robots-and-move-arms-from-your-iphone/59063/1 "2026-10-22T15:17:49Z")

</div>

Since [its release in January](https://discourse.openrobotics.org/t/the-release-of-the-conduit-ios-app-transform-your-apple-devices-into-ros-2-sensor-publishers/51717), Conduit has turned iPhone, iPad and Mac into ROS 2 sensor publishers. Conduit 3 adds the other direction: it subscribes to your robot and drives it. Here is a first look at a work-in-progress build. Both videos run in real time.

## Mobile robots

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/8/7/875db799290bb64f78fc976685ca6ada2361bb33.jpeg "Conduit 3 sneak peek: drive a robot through its own camera from your iPhone (ROS 2, Teleop)") ](https://www.youtube.com/watch?v=tERF16pEvUA)

- **Drive through the robot’s own camera.** A Kachaka publishes its front camera as `sensor_msgs/CompressedImage`, which Conduit shows full screen with a minimap. The on-screen stick goes out as `sensor_msgs/Joy` in the ROS `joy` layout, and `teleop_twist_joy` on the robot side turns it into `cmd_vel`.
- **Pick any topic it publishes.** Conduit discovers the robot’s topics live. Halfway through the video, the camera switches from the front camera to the back camera by picking it from that list.

## Robot arms

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/7/9/794d06e5bd8f94ce0c3363c30941a61046ce6938.jpeg "Conduit 3 sneak peek: move a robot arm by moving your iPhone (ROS 2, MoveIt Servo)") ](https://www.youtube.com/watch?v=5x5xeL3mKAI)

- **Move the arm by moving the phone.** Hold HOLD and Conduit turns the phone’s motion into `geometry_msgs/TwistStamped` for MoveIt Servo. The arm’s wrist camera fills the screen.
- **MoveIt poses.** The Poses menu lists the poses in the robot’s MoveIt config (SRDF), and picking one moves the arm there.
- **Pick and place** with the gripper. The arm here is a 6-axis arm in MuJoCo simulation.

Both run over Zenoh (`rmw_zenoh_cpp`) on ROS 2 Jazzy, using [swift-ros2 3.0](https://github.com/swift-ros2/swift-ros2), with no bridge.

## A change in how Conduit is priced

Conduit has outgrown its five separate in-app unlocks (Back Cameras, LiDAR, Game Controller, Background Mode, Recording Export), and more features are on the way. In 3.0:

- **Every feature, Robots included, unlocks for everyone.** Free users get a weekly time allowance.
- **Conduit Plus** , by subscription or a one-time purchase, removes the limit.
- **Founders:** if you own any one of today’s in-app purchases, bought before 3.0 ships, Conduit Plus is yours forever.

## Already in Conduit 2.5

- ROS 2 Lyrical, alongside Humble, Jazzy, Kilted and Rolling.
- REP-103 / REP-145 frames, and a `/tf_static` that follows the device’s mounting.
- AR-aligned `16UC1` depth with `camera_info`, stamp-matched to RGB.
- Publish only when subscribed.
- Auto-reconnect after a router restart.
- Game Controller in the ROS `joy` layout.

## See it live

I’m demoing this tonight, **Thursday, October 22, at ROS By-The-Bay at Intrinsic HQ in Mountain View** :

> **[ROS By-The-Bay October Meetup at Intrinsic: Swift for ROS + ROSCon Global...](https://www.meetup.com/ros-by-the-bay/events/316984436/)**
>
> ROS By-The-Bay is the Bay Area's only meetup exclusively for Robot Operating System (ROS) users!
> For our September meetup, we have three fantastic speakers at an amazing ne

App Store:

> **[Conduit, powered by ROS App - App Store](https://apps.apple.com/us/app/conduit-powered-by-ros/id6757171237)**
>
> Download Conduit, powered by ROS by Yutaka Kondo on the App Store. See screenshots, ratings and reviews, user tips, and more apps like Conduit, powered by ROS.