Native C++ with ROS on Android?

asked 2019-08-02 05:26:46 -0500

iliis gravatar image

I'd like to run our existing ROS nodes on Android. This is all C++ code, and I've got the non-ROS parts working with the Android NDK already. However, using native ROS on Android doesn't seem very straightforward. I've found https://github.com/ekumenlabs/roscpp_..., but this is for ROS Hydro and NDK r9!

Any suggestions on running ROS Melodic (or later) with NDK r20? Do I really have to cross-compile the full ROS core myself, including all the dependencies? This is quite a bit of work. It includes cross-compiling python 2 for Android which isn't trivial itself. I was hoping to find something precompiled or at least pre-configured...

I don't think it makes sense to use rosjava, as then we would basically have to rewrite all our ROS code, no?

Might it make sense to migrate to ROS 2?

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