ros_android load plugins for move_base

edit

concerning this tutorial: android_ndk_pluginlib

i set up my android robot with ros_android and everything is working so far including amcl. But i cant get the plugins to work. The plugins i need are base_local_planner/TrajectoryPlannerROS costmap2d/inflationlayer obstacle layer and static_layer. Usually i would load them by setting the according Parameters in the XML and YAML files like this:

- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

but with ros_android i dont have that option. To set the parameters i use:

        ParameterTree params = connectedNode.getParameterTree();
        params.set("move_base_node/global_costmap/plugins/name/inflation_layer", "costmap_2d/StaticLayer");

which doesn't seem to work.

In the android.mk file i have included

LOCAL_WHOLE_STATIC_LIBRARIES := libcostmap_2d libbase_local_planner libglobal_planner

any help would be very welcome.