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There is a Android package of ROS. Here is the install instruction

You can use the Android Studio to design your application but I have to say you need the ros-android and rosjava libs for that.

Also there are some sample applications, which you can use as a template.

For my experience, I can publish my IMU data and video stream from my mobile to the rosmaster. https://www.youtube.com/watch?v=v_xHyifEzRc

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