Hi @Antolinos95,
You have [rosjava](
http://wiki.ros.org/rosjava) and you could receive the messages there. We approached this problem a while ago and we decided that the best solution was to cross-compile mavros for android using the [ros android ndk](
http://wiki.ros.org/android_ndk). We bumped into a few problems, the main one being that the environment doesn't fully support C++11 so we got stucked there.
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