haritopitya/ros2-android-build

Build rcljava for Android.

ros2-android-build

Build rcljava for Android.

Environment

Modify Dockerfile to change environment.

• NDK: android-ndk-r23b
• ABI: arm64-v8a
• Android API Level: 24

ROS2 version

Modify repo to change ROS2 version.

Currently ROS2 Humble is selectd for the building.

How to build

1. Clone repository

git clone https://github.com/nicholaslu/ros2-android-build
cd ros2-android-build/

2. Build docker image

docker build -t ros2java-android-build ./

3. Build

python3 run.py ./out/soOut ./out/jarOut

4. Copy files to Android Studio project

Copy .jar files to app/libs/rcljava and .so files to app/src/main/jniLibs/arm64-v8a and add implementation fileTree(include: ['*.jar'], dir: 'libs') to dependencies{} of app/build.gradle