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Based on the article "Creating Android Packages" in the wiki I found a solution:

catkin_create_android_pkg android_foo android_core rosjava_core std_msgs
cd android_foo
catkin_create_android_project -t 10 -p com.github.ros_java.android_foo.bar bar
cd ../.. ; catkin_make

Finally add the following line to your file build.gradle:

dependencies {
    compile 'org.ros.android_core:android_10:[0.2,0.3)'
}

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