Hi @mps2209! You are in the right track. In rosjava kinetic, a [ParameterLoaderNode](https://github.com/rosjava/rosjava_core/blob/kinetic/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java) was added to rosjava, which can read from yaml files and upload the contents to the parameter server. I suggest you to take a look at [tangobot](https://github.com/ekumenlabs/tangobot) repository; it uses the cross compiled navigation stack. You will probably find it useful. Some places you should look at: - [Gradle buildscript](https://github.com/ekumenlabs/tangobot/blob/master/tangobot_app/app/build.gradle) - [Android.mk](https://github.com/ekumenlabs/tangobot/blob/master/tangobot_app/app/src/main/cpp/Android.mk) - [MainActivity](https://github.com/ekumenlabs/tangobot/blob/master/tangobot_app/app/src/main/java/com/ekumen/tangobot/application/MainActivity.java) --> usage of ParameterLoaderNode is there. - [Raw resources](https://github.com/ekumenlabs/tangobot/tree/master/tangobot_app/app/src/main/res/raw) with the yaml files you need to configure the plugins. Hope it helps! --- [Visit Topic](https://discourse.ros.org/t/ros-android-ndk/278/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: