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The tutorial rely on the previous version of the android(and obsoleted) sdk

$ wget
$ android update sdk -u -o -t "`android list sdk -o | grep "Android API 9" | awk "{ print \\\$1; } " | sed 's/-//g'`,`android list sdk -o | grep "SDK Platform Android 2.3.1, API 9" | awk "{ print \\\$1; } " | sed 's/-//g'`"

Also, I have do downgrade rosjava_android repository hg update ec39ea3fdb22

Then ant still produce error but ant install works. Should we need to upgrade the wiki tutorial?