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Ok, it's a very general description, bu... if I understood properly, you need :

1. Full driver for your robot in android, publishing odometry. tf, sensor data, etc. in addition to executing velocity commands. I would suggest to follow the consensual interface used in robots like PR2 or Turtlebot so you can easily reuse tons of packages out of the box.
2. Pc visualization. Before you develop anything specific for your project, your tool is RViz. You can do really a lot of things with RViz and additional plugins, like control the robot with interactive markers.
3. New stuff. If you need something not already implemented in RViz, you can make your own pluggins, or use separate ROS packages, or develop a package by yourself. But I would suggest to dig into ros wiki before doing something from scratch, as there're tons of interesting projects that covers many, many features you would want for your robots!

Not sure if I'm being helpful... Please ask something more precise if not.

Ok, it's a very general description, bu... if I understood properly, you need :

1. Full driver for your robot in android, publishing odometry. tf, sensor data, etc. in addition to executing velocity commands. I would suggest to follow the consensual interface used in robots like PR2 or Turtlebot so you can easily reuse tons of packages out of the box.
2. Pc visualization. Before you develop anything specific for your project, your tool is RViz. You can do really a lot of things with RViz and additional plugins, like control the robot with interactive markers.
3. New stuff. If you need something not already implemented in RViz, you can make your own pluggins, or use separate ROS packages, or develop a package by yourself. But I would suggest to dig into ros wiki before doing something from scratch, as there're tons of interesting projects that covers many, many features you would want for your robots!

Not sure if I'm being helpful... Please if not, please try to ask something more precise if not.precise.