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Yes, it's possible to run the roscore on the Android device. You can start one programmatically using RosCore.newPublic() which will listen on the public interfaces. (The MasterChoooser default implementation will start a Private server, not accessible by the outside world).

Once you start your RosCore, you can set the ROS_MASTER_URI environment variable on your Ubuntu laptop to your Android device: export ROS_MASTER_URI=http://192.168.1.10:11311

Once that is set (in all your shells), you should be able to see topics using rostopic and the other basic tools.