Hi ROS community!
We have created hNode - a free Android app that allows you to use your smartphone sensors in ROS. The smartphone is connected to the rest robotic system through a P2P, VPN network, so the latency is quite low. You can read more in the [medium article](
https://medium.com/husarion-blog/dont-buy-expensive-sensors-for-your-robot-use-your-smartphone-24380eab521). We've also created a [simple tutorial](
https://husarion.com/core2/tutorials/husarnet/following-object-using-your-smartphone/) showing you how to use hNode in your robotic project. Let me know what you think, and I hope it would be helpful in your next robotic project.
All the best!
Dominik
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