Finally I made my own android APP

https://github.com/ZahraBoroujeni/android_ros_model_car

install

sudo apt-get install oracle-java7-installer
sudo aptitude install ia32-libs lib32ncurses5 lib32stdc++6

Download android-sdk-linux from link below and extract:

http://developer.android.com/sdk/index.html#Requirements

sudo chmod +x android.sh
./android.sh

install and run (see link below)

http://www.unixmen.com/install-android-sdk-ubuntu-14-04/

Now I have 4 folder (android-ndk-r10e, android-sdk-linux, roscpp_android, roscpp_android_ndk)

sudo gedit ~/.bashrc

add the lines in ~/.bashrc:

export PATH=${PATH}:/home/<username>/android-sdk-linux/tools
export PATH=${PATH}:/home/<username>/android-sdk-linux/platform-tools
export PATH=${PATH}:/home<username>/android-studio/bin
export ANDROID_HOME=/home/<username>/android-sdk-linux

http://wiki.ros.org/android_ndk/Tutorials/Building%20The%20Example%20Applications%20using%20the%20Binary%20Distribution

app

download the sample app below:

https://github.com/ZahraBoroujeni/android_ros_model_car

• folder jni , write your own c++ code
• folder res, define your layout
• folder src, write your java code

com_ros_sampleapp_sampleApp.h file in the jni folder and AndroidManifest.xml make connection between java (graphical part) and c++ (ros part)

debug and install

ant debug

after connecting your mobile to your computer-> active USB debugging

ant debug install