之前博客已经介绍了在linux下安装Android studio《基于linux系统安装Android Studio》，同时也实现了用手机控制turtlebot3的移动。本博文来系统性的学习一下Android与ROS联合开发~
目录
ROSJAVA
ROSjava为ros在java中的通信提供了一个客户端库，以及一系列的核心工具及驱动。
rosjava_core，它是用纯JAVA实现ROS。它提供了一个客户端库是JAVA程序可以快速的调用ROS的Topics,Services, and Parameters。其中一个最重要的特点就是对Android的友好性，可以在Android上进行rosjava的开发。
rosjava的一些官方代码可见：https://github.com/rosjava
ROS Java是指以Java语言运行的ROS客户端库。我们先设置运行Java所需的选项。需要的功能包是Java SE Development Kit（JDK）（但是在安装android studio的时候应该会自动安装了，如果没有可以参考下）
之前博文也介绍了怎么安装JDK（基于linux系统安装Android Studio）
$ sudo apt-get install openjdk-8-jdk
$ echo export PATH=${PATH}:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-studio/
bin >> ~/.bashrc
$ echo export ANDROIS_HOME=/opt/android-sdk >> ~/.bashrc
$ source ~/.bashrc以下命令下载用于ROS Java中的构建所需的工具。之后，安装并构建一个包含ROSJava系统和示例的功能包。这里的android_core目录是和前面出现的catkin_ws目录具有同样意义的目录。
sudo apt-get install ros-kinetic-rosjava-build-tools$ mkdir -p ~/android_core
$ wstool init -j4 ~/android_core/src https://raw.github.com/rosjava/rosjava/kinetic/
android_core.rosinstall
$ source /opt/ros/kinetic/setup.bash
$ cd ~/android_core
$ catkin_makeROSjava环境的搭建可以参考（https://jimmylee05.github.io/2018/11/12/ROSJava%E7%8E%AF%E5%A2%83%E6%90%AD%E5%BB%BA/）
ROSAndroid
android_core一个集合rosjava组件和范例的ROS开发应用。
首先需要安装Android studio（可参考android/kinetic/Android Studio/Download - ROS Wiki以及博文《基于linux系统安装Android Studio》）
也可以参考书籍《ROS_Robot_Programming_EN》
在Android中使用ROS
（在Android中使用ROS_bluewhalerobot的博客-CSDN博客)
在Android中使用ROS相关的配置方式可以有两种。
- 一种是在ROS环境中使用
- 另一种是给普通的Android App添加上ROS的依赖库。也即是可以在开发机器没有安装ROS的条件下进行开发。
由于本人已经在装有ROS的ubuntu中搭建了Android系统，故此就不再采用该方式了，有兴趣的可以参考链接
ROS与Android项目实例实践
github工程https://github.com/ros-autom/RobotCA/tree/kinetic/src/android_foo是一款可以控制机器人的APP。但是配置起来有点麻烦～～～
首先有些网页在大陆访问比较困难，为此修改build.gradle文件
/*
* Copyright (C) 2014 Mike
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
task wrapper(type: Wrapper) {
gradleVersion = '2.2.3'
}
buildscript {
// apply from: "https://github.com/rosjava/android_core/raw/kinetic/buildscript.gradle"
// apply from: "https://github.com/rosjava/rosjava_bootstrap/raw/kinetic/buildscript.gradle"
String rosMavenPath = System.getenv("ROS_MAVEN_PATH")
String rosMavenRepository = System.getenv("ROS_MAVEN_REPOSITORY")
repositories {
if (rosMavenPath != null) {
rosMavenPath.tokenize(":").each { path ->
maven {
// We can't use uri() here because we aren't running inside something
// that implements the Script interface.
url "file:${path}"
}
}
}
maven {
url "http://repository.springsource.com/maven/bundles/release"
}
maven {
url "http://repository.springsource.com/maven/bundles/external"
}
if (rosMavenRepository != null) {
maven {
url rosMavenRepository
}
}
maven {
url "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
}
// google()
maven {
url 'https://maven.google.com'
}
jcenter()
}
dependencies {
classpath "org.ros.rosjava_bootstrap:gradle_plugins:[0.3,0.4)"
}
dependencies {
classpath "com.android.tools.build:gradle:3.2.1"
}
allprojects {
repositories {
jcenter()
maven {
url "https://maven.google.com"
}
}
}
dependencies {
//Add this to fix the gradle plugin issues
classpath 'com.android.tools.build:gradle:1.5.0'
// TEST
classpath 'junit:junit:4.12'
classpath 'org.mockito:mockito-core:1.10.19'
}
}
apply plugin: 'catkin'
allprojects {
/* A github url provides a good standard unique name for your project */
group 'com.github.sccapstone.robotca'
//version = project.catkin.pkg.version
}
subprojects {
/*
* The android plugin configures a few things:
*
* - local deployment repository : where it dumps the jars and packaged artifacts)
* - local maven repositories : where it finds your locally installed/built artifacts)
* - external maven repositories : where it goes looking if it can't find dependencies locally
* - android build tools version : which version we use across the board
*
* To modify, or add repos to the default external maven repositories list, pull request against this code:
*
* https://github.com/rosjava/rosjava_bootstrap/blob/indigo/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy#L31
*
* To modify the build tools version, pull request against this code:
*
* https://github.com/rosjava/rosjava_bootstrap/blob/indigo/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy#L14
*/
apply plugin: 'ros-android'
afterEvaluate { project ->
android {
// Exclude a few files that are duplicated across our dependencies and
// prevent packaging Android applications....
packagingOptions {
exclude "META-INF/LICENSE.txt"
exclude "META-INF/NOTICE.txt"
}
}
}
}
然后在配置的时候，会存在一下网络打不开的情况
运行下面命令
sudo code /etc/hosts --user-data-dir通过下面网站查询对应网页的ip
https://www.ipaddress.com/
然后修改
配置的时候还可能出现xml1.0与2.0的匹配情况。修改对应的xml文件即可
然后就可以安装此app～
注意：千万千万不要手贱按更新～一旦更新了，会发现gradle配置不对，然后工程无法运行～至于解决办法，可以通过project structure修改gradel ersion
参考资料
https://github.com/rosjava/android_apps
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