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I recently build it for Ubuntu 14.04 and summarized the steps. In case you do not want to use Ubuntu 14.04 you will probably have to build most of the packages named in the following by yourself:
If you want to stick with Windows or in general want to skip the source installation of rosjava it is probably the most suitable and easiest way to use the dependencies from the maven repositories in your *.gradle build file in Android Studio:
repositories { maven { url 'https://github.com/me/myjava_mvn_repo/raw/master' } }