# jros2 Cellphone Sensor Bridge: Native ROS 2 nodes on Android

**URL:** <https://discourse.openrobotics.org/t/jros2-cellphone-sensor-bridge-native-ros-2-nodes-on-android/54804>\
**Category:** ROS General\
**Tags:** ros2, android\
**Created:** [May 13, 2026, 10:40pm UTC](https://discourse.openrobotics.org/t/jros2-cellphone-sensor-bridge-native-ros-2-nodes-on-android/54804 "2026-05-13T22:40:18Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![thegrayguy](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/thegrayguy/32/33888_2.png) [@thegrayguy](https://discourse.openrobotics.org/u/thegrayguy)\
**Post date:** [May 13, 2026, 10:40pm UTC](https://discourse.openrobotics.org/t/jros2-cellphone-sensor-bridge-native-ros-2-nodes-on-android/54804/1 "2026-05-13T22:40:18Z")

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Hey everyone,

I was recently reading a book on ROS 2 and went looking for `ros2_java`. After finding out that project essentially died, I discovered `jros2` and decided to just build an app to test its limits.

The result is the jros2 Cellphone Sensor Bridge. It is an Android (Jetpack Compose) application that exports live phone sensor telemetry to ROS 2 using standard `sensor_msgs`, `std_msgs` message types, and custom `mobile_sensor_msgs` definitions over the IHMC `jros2-android` stack (Fast DDS + JavaCPP JNI).

**How it works:**

- It initializes a fully compliant ROS 2 Node (`phone_sensor_node`) directly on your physical Android smartphone.

- It streams real-time, high-frequency telemetry from 11+ hardware/software sensors and input devices (IMU, Magnetometer, GPS, Touch Screen, Dual Cameras, etc.).

- It employs an Android multicast Wi-Fi lock to ensure robust, real-time discovery of DDS participants directly on the local network without intermediary servers.

Here is a quick demo showing the phone acting as a dual-joystick controller and streaming data: [https://www.youtube.com/watch?v=skNQdbO8yrw](https://www.youtube.com/watch?v=skNQdbO8yrw)

Repo, architecture details, and the v1.1.0 APK are available here: [https://github.com/SinfonIAUniandes/jros2\_cellphone\_interface/tree/main](https://github.com/SinfonIAUniandes/jros2_cellphone_interface/tree/main)