{"id":21281486,"url":"https://github.com/christophebedard/ipad-lidar2ros","last_synced_at":"2025-08-21T06:37:26.573Z","repository":{"id":65270982,"uuid":"334263106","full_name":"christophebedard/ipad-lidar2ros","owner":"christophebedard","description":"Publish iPad Pro LiDAR data \u0026 more in ROS 2 - source code \u0026 assets only","archived":false,"fork":false,"pushed_at":"2022-07-02T19:57:21.000Z","size":985,"stargazers_count":18,"open_issues_count":0,"forks_count":1,"subscribers_count":2,"default_branch":"master","last_synced_at":"2023-03-03T18:38:52.122Z","etag":null,"topics":["app","depth","ipad","lidar","pointcloud","ros2"],"latest_commit_sha":null,"homepage":"","language":"Swift","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/christophebedard.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2021-01-29T21:06:59.000Z","updated_at":"2023-02-09T09:02:25.000Z","dependencies_parsed_at":"2023-01-16T15:00:29.054Z","dependency_job_id":null,"html_url":"https://github.com/christophebedard/ipad-lidar2ros","commit_stats":null,"previous_names":[],"tags_count":null,"template":null,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/christophebedard%2Fipad-lidar2ros","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/christophebedard%2Fipad-lidar2ros/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/christophebedard%2Fipad-lidar2ros/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/christophebedard%2Fipad-lidar2ros/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/christophebedard","download_url":"https://codeload.github.com/christophebedard/ipad-lidar2ros/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":225715933,"owners_count":17512909,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["app","depth","ipad","lidar","pointcloud","ros2"],"created_at":"2024-11-21T10:48:09.143Z","updated_at":"2024-11-21T10:48:09.818Z","avatar_url":"https://github.com/christophebedard.png","language":"Swift","funding_links":[],"categories":[],"sub_categories":[],"readme":"# \u0026nbsp; [![lidar2ros app icon](./app-icon/lidar2ros_appicon_rounded_readme.png)](./app-icon/lidar2ros_appicon.psd) \u0026nbsp; lidar2ros for iPad\n\nPublish iPad Pro LiDAR data \u0026 more in ROS 2.\n\nNote: this repository only contains the source code \u0026 assets.\nTo run the app, set up an Xcode project and import this.\n\n\u003c!-- TODO link to app on the App Store once it's published --\u003e\n\n\u003c!-- TODO add screenshot/demo --\u003e\n\n## Using the app\n\nDisplay a simple help page in the app by pressing the help button in the lower right corner.\n\nHide or display the controls by pressing on the gear icon in the bottom left corner.\n\n### Setting up a remote rosbridge\n\nFor the data to be published in ROS 2, start [ros2-web-bridge](https://github.com/RobotWebTools/ros2-web-bridge) on a computer on the same network as your iPad (or any network reachable from your iPad).\n\n0. Make sure [ROS 2 is installed](https://index.ros.org/doc/ros2/Installation/) and sourced\n1. [Install ros2-web-bridge](https://github.com/RobotWebTools/ros2-web-bridge#install)\n    ```sh\n    $ git clone https://github.com/RobotWebTools/ros2-web-bridge.git\n    $ cd ros2-web-bridge\n    $ npm install\n    ```\n1. [Run ros2-web-bridge](https://github.com/RobotWebTools/ros2-web-bridge#run-examples)\n    ```sh\n    $ node bin/rosbridge.js\n    ```\n\n### Connecting to the remote rosbridge\n\nTo connect to the remote rosbridge, in the app, enter the computer's IP and port (e.g. `x.y.z.a:bcde`, default ros2-web-bridge port is 9090) in the field next to *Remote bridge*.\nOnce this is done, the switch next to the field will turn on and the app will connect to the remote rosbridge.\n\nIf the switch does not get flipped, it means the app could not connect.\nCheck the IP \u0026 port and try again.\n\n### Publishing data\n\nTo publish data, turn on one of the other switches.\nThe topic names can be changed using the corresponding text fields.\nApproximate publishing rates can be set using the corresponding steppers.\n\nThe table below lists the data available for publishing.\n\n| Description            | Default topic name | Message type              | Frame ID      |\n|------------------------|--------------------|---------------------------|---------------|\n| Transforms\u003csup\u003e1\u003c/sup\u003e |                    |                           |               |\n| LiDAR depth map        | `/ipad/depth`      | `sensor_msgs/Image`       | `ipad_camera` |\n| LiDAR point cloud      | `/ipad/pointcloud` | `sensor_msgs/PointCloud2` | `ipad`        |\n| Camera image           | `/ipad/camera`     | `sensor_msgs/Image`       | `ipad_camera` |\n\n1. tf tree:\n    *  `map_ipad`: iPad world origin\n        * `arkit_ref`: iPad world origin (as ARKit reference wrt normal ROS reference)\n            * `ipad_camera`: iPad camera\n                * `ipad`: iPad in landscape mode\n\n## Generating the app icon assets\n\nXcode requires PNGs of various sizes for the app icon.\nThese can easily be generated from the source file ([`lidar2ros_appicon.psd`](./app-icon/lidar2ros_appicon.psd)).\n\nMake sure [`brew` is installed](https://brew.sh), then install `imagemagick`:\n\n```zsh\n% brew install imagemagick\n```\n\nTo simply export the PSD file to a PNG (if you want a preview):\n\n```zsh\n% convert 'lidar2ros_appicon.psd[0]' -resize 200x200 appicon.png\n```\n\nRun the provided script to generate all the required PNGs:\n\n```zsh\n% ./gen_appicon_assets.sh\n```\n\nThis script also generates the rounded app icon used at the top of this README.\n\n## License\n\nThis repository is released under the Apache License Version 2.0.\nSee [`LICENSE`](./LICENSE).\n\nSome 3rd party code is used \u0026 distributed under the MIT license.\nSee [`LICENSE.3RD-PARTY`](./LICENSE.3RD-PARTY).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchristophebedard%2Fipad-lidar2ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fchristophebedard%2Fipad-lidar2ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchristophebedard%2Fipad-lidar2ros/lists"}