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Hi,
RTAB-Map Tango app doesn't have ROS inputs or outputs. It is a standalone version. Indeed, it would be nice to run it like a ROS node, publishing the map outside the tablet. I did not play with ROS Java yet, so not sure how integrate it.
I don't know if it could be easier to build ROS CPP as static libraries to be included in RTAB-Map app, so that no data conversion from C++ to Java would be required to publish the messages (all mapping/visualization processing is done in C++, only menus are in Java).
If you use ROS Java, you may have to convert C++ RTAB-Map/OpenCV/PCL classes to Java to publish them.
For your errors about "ROS Java Android workspace", you may post a new question about the errors (specific to ROS Java).
cheers
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