I've been working on a driver that connects the sensors in Android devices to the ROS environment.  At this time, it only publishes sensor_msgs/NavSatFix messages, but I will soon introduce sensor_msgs/Imu and sensor_msgs/Image to publish data from accelerometers, gyroscopes, magnetometers, and front/rear cameras.

To get more information and to install, please see the following:

To file bugs, request features, view source, or contribute UI, translation, or other improvements, please see the Google Code project:

I hope everyone finds this useful and I look forward to hearing your feedback and seeing cool uses for Android devices in robotics.

Thanks,

 - Chad Rockey