We have covered Android - ROS applications provided from the ROS repository. So how can we create our own application using it? Let's take a look.

First, we have to create a separate workspace for our application. Here, it is named myandroid:

$ mkdir -p ~/myandroid/src

Switch to the workspace's src folder:

$ cd ~/myandroid/src

Create a package called android_foo that depends on android_core, rosjava_core, and std_msg:

$ catkin_create_android_pkg android_foo android_core rosjava_core std_msgs

Switch into android_foo and add sample libraries to check whether the project is building properly:

$ cd android_foo
$ catkin_create_android_project -t 10 -p com.github.ros_java.android_foo.bar bar
$ catkin_create_android_library_project -t 13 -p com.github.ros_java.android_foo.barlib barlib
$ cd ../..

And finally, you can build the empty project using catkin_make:

$ catkin_make

If it is building properly, you can add a custom project, such as...