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Welcome to bleeding-edge development! :)

I fixed this by creating a NameResolver - here's a patch for VisualizationView.java.

--- a/android_honeycomb_mr2/src/org/ros/android/view/visualization/VisualizationView.java   Tue Jul 10 21:48:56 2012 -0500
+++ b/android_honeycomb_mr2/src/org/ros/android/view/visualization/VisualizationView.java   Wed Jul 11 13:54:43 2012 -0500
@@ -27,6 +27,7 @@
 import org.ros.android.view.visualization.layer.Layer;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
+import org.ros.namespace.NameResolver;
 import org.ros.node.ConnectedNode;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
@@ -64,7 +65,7 @@
         requestRender();
       }
     };
-    frameTransformTree = new FrameTransformTree();
+    frameTransformTree = new FrameTransformTree(NameResolver.newRoot());
     camera = new Camera(frameTransformTree);
     renderer = new XYOrthographicRenderer(frameTransformTree, camera);
     layers = Lists.newArrayList();
@@ -123,7 +124,7 @@
   private void startTransformListener() {
     String tfPrefix = connectedNode.getParameterTree().getString("~tf_prefix", "");
     if (!tfPrefix.isEmpty()) {
-      frameTransformTree.setPrefix(tfPrefix);
+      frameTransformTree = new FrameTransformTree(NameResolver.newFromNamespace(tfPrefix));
     }
     Subscriber<tf.tfMessage> tfSubscriber = connectedNode.newSubscriber("tf", tf.tfMessage._TYPE);
     tfSubscriber.addMessageListener(new MessageListener<tf.tfMessage>() {

After this, my ./gradlew debug finished without an issue, and I could get my Android apps working again.