# ros2-android-build

**Repository Path**: FunXiaoYuZhou/ros2-android-build

## Basic Information

- **Project Name**: ros2-android-build
- **Description**: ros2-android-build
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-09-21
- **Last Updated**: 2023-10-08

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ros2-android-build

Build [rcljava](https://github.com/ros2-java/ros2_java) for android.  


## Versions & Envs

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

## ROS2 java version  

[repo](./ros2_java_android.repos)  
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.