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@rozoalex the "most standard" way of running ROS on Android is using Rosjava and RosAndroid. Take a look here: http://wiki.ros.org/android (kinetic tab) and here: http://wiki.ros.org/rosjava. The documentation is a bit basic but it can get you going. In short, Rosjava will provide you the infrastructure you need to execute code as ROS nodes, send messages, etc. All of that can be triggered within an Android activity.

Depending on what you want to do, you may want to modify existing apps (like teleop), which are actually open source. Take a look at https://github.com/rosjava/android_apps, you don't need to start from scratch. Perhaps some of the existing components will help you out in your application.