This is a step-by-step guide to writing one of the basic Android Apps that runs on the Pr2. This tutorial will demonstrate how to make the Pr2 Props App. You should read the previous tutorial linked above but if it didn't all make sense then that's okay. This tutorial does assume that the Android development environment described at the beginning of that article has been set up.

This tutorial explains how to set up your environment to build a ROS Android App

Example of how to run an application with a single .launch file from Android device.