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You can use the old way they used to do things. I was also in the situation where I absolutely could not use RosActivity (since I was already extending).

The method I currently use is:

nodeConfiguration = NodeConfiguration
                        .newPublic(InetAddressFactory.newNonLoopback()
                                .getHostAddress());

String hostMaster = prefs.getString("ros_IP", "");
Integer port = Integer.parseInt(prefs.getString("ros_port",
                        ""));
URI uri = URI.create("http://" + hostMaster + ":" + port);
nodeConfiguration.setMasterUri(uri);

nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
nodeMainExecutor.execute(vehSub, nodeConfiguration);

You can use the old way they used to do things. I was also in the situation where I absolutely could not use RosActivity (since I was already extending). I dug in to their ROSActivity and a few of their tutorials to find the below. Hope it helps.

The method I currently use is:

nodeConfiguration = NodeConfiguration
                        .newPublic(InetAddressFactory.newNonLoopback()
                                .getHostAddress());

String hostMaster = prefs.getString("ros_IP", "");
Integer port = Integer.parseInt(prefs.getString("ros_port",
                        ""));
URI uri = URI.create("http://" + hostMaster + ":" + port);
nodeConfiguration.setMasterUri(uri);

nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
nodeMainExecutor.execute(vehSub, nodeMainExecutor.execute(<NAMEOFNODECLASS>, nodeConfiguration);