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Just a quick response:

You would need rosjava to run everything on the phone. They have a pub/sub-Tutorial also. Basicly, you need to write one node, which subscribes to the /android/imu topic, just as described in the sub-tutorial. Instead of just printing it, you would then modify and publish it as described in the pub-tutorial to your desired topic.

You'll need to watch out for the message-types, since you aren't talking about strings anymore, but there is a section in the rosjava docs about how to use different message types.

Basicly: Go to the Rosjava documentation, follow their tutorials and in the end merge them to one node :)

Hope that helps,

Rabe