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For those who may concern, I solved this problem by:

1: upgrade to Android Studio 0.4 and Gradle 0.7

2: 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.+'