[Android] jar, so 파일 빌드를 통한 ROS for Android

환경

• NDK: android-ndk-r23b
• ABI: arm64-v8a
• Android API Level(minSdkVersion): android-21

 

// docker 환경에서 빌드하므로, docker 설치 필요함 (아래 링크 참고)

https://shanepark.tistory.com/237

Ubuntu 20.04 LTS ) Docker 설치하기

 

1. Clonning the repository

cd $HOME
git clone https://github.com/YasuChiba/ros2-android-build.git

 

2. Build docker image

cd $HOME/ros2-android-build
docker build -t ros2java-android-build ./

 

3. Build

python3 run.py ./out/soOut ./out/jarOut --srcDir ../src

 

4. 적용

생성된 so 파일들과 jar 파일들을 자신의 Android project에 아래 구조에 맞게 넣어준다.

app
 -libs
    - .jar files
 - src
    - main
        - java
        - jniLibs
            - arm64-v8a
                - .so files
        - res
        - AndroidManifest.xml

Refer to example project: https://github.com/YasuChiba/ros2-android-test-app

 

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[출처]

https://github.com/YasuChiba/ros2-android-build

GitHub - YasuChiba/ros2-android-build: Build rcljava(ros2-java) for android.