How to use android ROS teleop to control custom robot?

edit

It seems that ROS teleop ( https://play.google.com/store/apps/de... ) is designed to control turtlebot only. I wonder whether anyone knows how to have it control a custom robot (as only Twist message is needed)?

The developer, OSRF, has several other apps that are useful to control other robot as well. It will be great if anyone knows how to use them on custom robots. Thanks

[Edit] Btw, the reason I asked is that when I run the app on android, the following error occurs. It seems that it is looking for turtlebot specific service /turtlebot/start_app. So I'm wondering how to get around it. Appreciated.

03-20 09:11:42.048: E/AndroidRuntime(20661): Process: com.github.rosjava.android_apps.teleop, PID: 20661
03-20 09:11:42.048: E/AndroidRuntime(20661): org.ros.exception.RosRuntimeException: org.ros.exception.ServiceNotFoundException: No such service /turtlebot/start_app of type rocon_app_manager_msgs/StartApp
03-20 09:11:42.048: E/AndroidRuntime(20661):    at com.github.rosjava.android_apps.application_management.AppManager.startApp(AppManager.java:138)
03-20 09:11:42.048: E/AndroidRuntime(20661):    at com.github.rosjava.android_apps.application_management.AppManager.onStart(AppManager.java:202)
03-20 09:11:42.048: E/AndroidRuntime(20661):    at org.ros.internal.node.DefaultNode$5.run(DefaultNode.java:506)
03-20 09:11:42.048: E/AndroidRuntime(20661):    at org.ros.internal.node.DefaultNode$5.run(DefaultNode.java:503)
03-20 09:11:42.048: E/AndroidRuntime(20661):    at org.ros.concurrent.EventDispatcher.loop(EventDispatcher.java:43)
03-20 09:11:42.048: E/AndroidRuntime(20661):    at org.ros.concurrent.CancellableLoop.run(CancellableLoop.java:56)
03-20 09:11:42.048: E/AndroidRuntime(20661): Caused by: org.ros.exception.ServiceNotFoundException: No such service /turtlebot/start_app of type rocon_app_manager_msgs/StartApp
03-20 09:11:42.048: E/AndroidRuntime(20661):    at org.ros.internal.node.DefaultNode.newServiceClient(DefaultNode.java:356)
03-20 09:11:42.048: E/AndroidRuntime(20661):    at org.ros.internal.node.DefaultNode.newServiceClient(DefaultNode.java:372)
03-20 09:11:42.048: E/AndroidRuntime(20661):    at com.github.rosjava.android_apps.application_management.AppManager.startApp(AppManager.java:134)
03-20 09:11:42.048: E/ActivityManager(643): App crashed! Process: com.github.rosjava.android_apps.teleop