ros2-android-build

Build rcljava for android.

Versions & Envs

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

ROS2 java version

repo
This project uses galactic. However, due to some issues, subscriptions are not working with other galactic publishers. I recommend using humble nodes as a counterpart of the android's node.

Steps to build

1. Build docker image

docker build -t ros2java-android-build ./

2. Build

python3 run.py ./out/soOut ./out/jarOut --srcDir ../src 

First and Second argument specifies where to copy build results.
Eg. Specify libs and jniLibs dir of your Android project to copy .jar files and .so files.

--srcDir option is using for adding packages other than ros2 java related packages, for example your own message package.
You can just specify your src dir which contains multiple packages. This option is not mandatory.

Note1

↓Android project structure example.

app
 -libs
    - .jar files
 - src
    - main
        - java
        - jniLibs
            - arm64-v8a
                - .so files
        - res
        - AndroidManifest.xml

Refer to example project: https://github.com/YasuChiba/ros2-android-test-app

Note2

Build ros2_android and ros2_android_examples by this Dockerfile is currently not supported.
Please build your android app by using Android Studio.