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First Connection

Connect your iPhone to the ARVOS server for the first time.

Prerequisites

  • ✅ ARVOS Python SDK installed
  • ✅ ARVOS iOS app installed on iPhone
  • ✅ Both devices on same Wi-Fi network
  • ✅ Server running (see Quick Start)

Step-by-Step Connection

1. Start the Server

Run your Python server:

python my_server.py

You should see output like: 

==================================================
ARVOS SERVER - Scan this QR code with your iPhone:
==================================================
[QR CODE]
==================================================
Or manually enter: ws://192.168.1.100:9090
==================================================

2. Open ARVOS App

On your iPhone: 1. Open the ARVOS app 2. Tap "CONNECT TO SERVER" button

3. Select Protocol

Choose your protocol: - WebSocket (default) - Works everywhere - gRPC - High performance (iOS 18+) - MQTT - IoT deployments - HTTP/REST - Simple integration - Bluetooth LE - No Wi-Fi needed - MCAP Stream - Robotics research - QUIC/HTTP3 - Ultra-low latency

4. Connect

Option A: Scan QR Code - Point your iPhone camera at the QR code - Tap the notification to open in ARVOS app

Option B: Manual Entry - Tap "Enter Manually" - Enter your computer's IP address (shown in terminal) - Enter port number (default: 9090 for WebSocket) - Tap "CONNECT"

5. Start Streaming

Once connected: 1. Tap "START STREAMING" button 2. Select your streaming mode: - Full Sensor - All sensors - RGBD Camera - Camera + Depth - IMU Only - Just IMU data - Mapping - Pose + IMU 3. Watch data flow to your Python server!

Troubleshooting

"Connection Failed"

Check Network: - Ensure both devices on same Wi-Fi - Try pinging iPhone from computer: ping <iphone-ip> - Try pinging computer from iPhone

Check Firewall: - macOS: System Settings → Firewall → Allow Python - Linux: sudo ufw allow 9090 - Windows: Windows Defender → Allow Python

Check Port: 

# Test if port is open
nc -l 9090  # Should listen without errors

"QR Code Not Scanning"

  • Increase terminal font size
  • Use manual IP entry instead
  • Check QR code contains correct IP

"No Data Received"

  • Ensure "START STREAMING" is tapped in app
  • Check server callbacks are registered
  • Verify protocol matches (WebSocket, gRPC, etc.)

Protocol-Specific Issues

gRPC: - Requires iOS 18+ - Check port 50051 is open

MQTT: - Ensure Mosquitto broker is running - Check broker is listening on all interfaces

HTTP/REST: - Use actual LAN IP (not 0.0.0.0) - Check App Transport Security settings

Bluetooth LE: - Enable Bluetooth on both devices - Ensure app is advertising (BLE toggle on)

→ Full Troubleshooting Guide

Next Steps