[ros-users] [Discourse.ros.org] [Client Libraries/rosjava] ROS Android NDK

[Juan Ignacio Ubeira]

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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