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. We’ve also created a simple tutorial 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!