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Hi @Tom_Cruise,

if you installed rosjava from source, you first need to source your rosjava workspace before calling the service (e.g source ~/rosjava/devel/setup.bash). The error happens because you don't have the message definition loaded in your environment. If you installed it from debians, sourcing the ROS distribution should do (e.g. source /opt/ros/kinetic/setup.bash).

To create custom services, try this tutorial as a first reference. As you can see, the service client / server are rosjava nodes that can be included in an Android project if needed.

Hope this helps!