use ros in handheld device

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I am currently working on a project with Ridgeback Clearpath robot. I need to command a Ridgeback robot to get to pre-defined selected point with an Android device. It also need to tell robot to either pick or place when it gets there. I can get to the point that able to control Ridgeback on RVIZ and have a code for it to self-navigation to certain location in the map. However, I am not sure how to run all of these commands in an Android device. Any ideas would greatly appropriated. thank in advance.

My OS: Ubuntu 14.04 LTS; Version of ROS : Indigo; Package using: Navigation package for Ridgeback and I use gmapping to get the map for robot.