You can get this application from android_make_a_map.

Application Status

• Default Robot: turtlebot
• Default App: turtlebot_core_apps/android_make_a_map

Node information

/android/virtual_joystick

Publishing

• Topic: /cmd_vel
• Type: geometry_msgs/Twist

Subscribing

• Topic: /odom
• Type: nav_msgs/Odometry

/android/camera_view

Publishing

• None

Subscribing

• Topic: (robot_name)/application/camera/rgb/image_color/compressed_throttle

• Type: sensor_msgs/CompressedImage

/android/map_view

Publishing

• None

Subscribing

• Topic: /tf
• Type: tf/tfMessage
• Topic: /map
• Type: nav_msgs/OccupancyGrid
• Topic: /scan
• Type: sensor_msgs/LaserScan

/android/save_map

Service Client

• Name: /save_map
• Type: map_store/SaveMap