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I posted a similar question here http://answers.ros.org/question/114996/error-while-run-all-tests-in-a-simple-android-ros-project-in-ubuntu/

The configuration are basically the same except I am using Ubuntu.

I solved my problem by using

compile('org.ros.android_core:android_honeycomb_mr2:0.1.+'){
        exclude group: 'junit'
        exclude group: 'xml-apis'
    }

instead of

compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'

in your case, try

compile('org.ros.android_core:android_gingerbread_mr1:0.1.+'){
        exclude group: 'junit'
        exclude group: 'xml-apis'
    }
compile('org.ros.android_core:android_honeycomb_mr2:0.1.+'){
        exclude group: 'junit'
        exclude group: 'xml-apis'
    }

hope it works for you.