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Hi @jbeard!

The method I prefer is using Catkin, and placing the messages in a separate package. I will assume you have a workspace with your rosjava/ Android project. Let me explain the steps: - Create a new catkin package using catkin_create_pkg in your workspace. - Create the custom message in this package as you would do in regular ROS (msg folder, modify the CMakeLists, etc). As you probably know, you would generate the standard Python/ Cpp files corresponding to those messages by building the workspace. -To create the java artifacts, source your rosjava installation workspace (if installed from source) and then build your workspace. The Java artifacts will be in devel/share/maven. - Modify your build.gradle dependencies to include the newly generated messages. Note that the version specified in the package will be the version of your messages.

Check out this tutorial: http://wiki.ros.org/rosjava_build_tools/Tutorials/indigo/UsingServices. It shows how to create and use custom services in Java, which in the end are actually a particular case for messages.

If you find it useful, I can create a tutorial for this as well when I find some time. Hope it helps!

Hi @jbeard!

The method I prefer is using Catkin, and placing the messages in a separate package. I will assume you have a workspace with your rosjava/ Android project. Let me explain the steps: - steps:

• Create a new catkin package using catkin_create_pkg in your workspace. - workspace.

• Create the custom message in this package as you would do in regular ROS (msg folder, modify the CMakeLists, etc). As you probably know, you would generate the standard Python/ Cpp files corresponding to those messages by building the workspace. -To

• To create the java artifacts, source your rosjava installation workspace (if installed from source) and then build your workspace. The Java artifacts will be in devel/share/maven. - devel/share/maven.

• Modify your build.gradle dependencies to include the newly generated messages. Note that the version specified in the package will be the version of your messages.

Check out this tutorial: http://wiki.ros.org/rosjava_build_tools/Tutorials/indigo/UsingServices. It shows how to create and use custom services in Java, which in the end are actually a particular case for messages.

If you find it useful, I can create a tutorial for this as well when I find some time. Hope it helps!