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!
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