Android tutorials now build again.

android/build.xml

@@ -122,7 +122,7 @@
       <src path="${gen.absolute.dir}" />
       <src refid="project.libraries.src" />
       <classpath>
-        <pathelement path="${ros.classpath}" />
+        <pathelement path="${ros.compile.classpath}" />
       </classpath>
     </javac>
   </target>

android_tutorial_camera/build.xml

@@ -122,7 +122,7 @@
       <src path="${gen.absolute.dir}" />
       <src refid="project.libraries.src" />
       <classpath>
-        <pathelement path="${ros.classpath}" />
+        <pathelement path="${ros.compile.classpath}" />
       </classpath>
     </javac>
   </target>

android_tutorial_camera/src/org/ros/android/camera/MainActivity.java

@@ -17,16 +17,21 @@
 package org.ros.android.camera;
 
 import android.app.Activity;
+import android.content.Intent;
 import android.hardware.Camera;
 import android.os.Bundle;
 import android.view.MotionEvent;
 import android.view.Window;
 import android.view.WindowManager;
 import android.widget.Toast;
-import org.ros.RosCore;
 import org.ros.address.InetAddressFactory;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeRunner;
+import org.ros.rosjava.android.MasterChooser;
+import org.ros.rosjava.android.views.RosCameraPreviewView;
+
+import java.net.URI;
+import java.net.URISyntaxException;
 
 /**
  * @author ethan.rublee@gmail.com (Ethan Rublee)
@@ -37,8 +42,8 @@ public class MainActivity extends Activity {
   private final NodeRunner nodeRunner;
 
   private int cameraId;
+  private URI masterUri;
   private RosCameraPreviewView preview;
-  private RosCore rosCore;
 
   public MainActivity() {
     nodeRunner = NodeRunner.newDefault();
@@ -51,6 +56,7 @@ public class MainActivity extends Activity {
     getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
     preview = new RosCameraPreviewView(this);
     setContentView(preview);
+    startActivityForResult(new Intent(this, MasterChooser.class), 0);
   }
 
   @Override
@@ -58,17 +64,11 @@ public class MainActivity extends Activity {
     super.onResume();
     cameraId = 0;
     preview.setCamera(Camera.open(cameraId));
-    try {
-      NodeConfiguration nodeConfiguration = NodeConfiguration.createDefault();
-      String host = InetAddressFactory.createNonLoopback().getHostAddress();
-      nodeConfiguration.setHost(host);
-      rosCore = RosCore.createPublic(host, 11311);
-      nodeRunner.run(rosCore, nodeConfiguration);
-      rosCore.awaitStart();
-      nodeConfiguration.setMasterUri(rosCore.getUri());
+    if (masterUri != null) {
+      NodeConfiguration nodeConfiguration =
+          NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostName());
+      nodeConfiguration.setMasterUri(masterUri);
       nodeRunner.run(preview, nodeConfiguration);
-    } catch (Exception e) {
-      throw new RuntimeException(e);
     }
   }
 
@@ -98,8 +98,20 @@ public class MainActivity extends Activity {
   @Override
   protected void onPause() {
     super.onPause();
-    preview.shutdown();
-    rosCore.shutdown();
+    if (masterUri != null) {
+      preview.shutdown();
+    }
+  }
+
+  @Override
+  protected void onActivityResult(int requestCode, int resultCode, Intent data) {
+    if (requestCode == 0 && resultCode == RESULT_OK) {
+      try {
+        masterUri = new URI(data.getStringExtra("ROS_MASTER_URI"));
+      } catch (URISyntaxException e) {
+        throw new RuntimeException(e);
+      }
+    }
   }
 
 }

android_tutorial_image_transport/build.xml

@@ -122,7 +122,7 @@
       <src path="${gen.absolute.dir}" />
       <src refid="project.libraries.src" />
       <classpath>
-        <pathelement path="${ros.classpath}" />
+        <pathelement path="${ros.compile.classpath}" />
       </classpath>
     </javac>
   </target>

android_tutorial_image_transport/src/org/ros/tutorials/image_transport/MainActivity.java

@@ -42,7 +42,6 @@ public class MainActivity extends Activity {
   private RosImageView<CompressedImage> image;
 
   public MainActivity() {
-    super();
     nodeRunner = NodeRunner.newDefault();
   }
 
@@ -63,8 +62,7 @@ public class MainActivity extends Activity {
     super.onResume();
     if (masterUri != null) {
       NodeConfiguration nodeConfiguration =
-          NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostName());
-      nodeConfiguration.setMasterUri(masterUri);
+          NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostName(), masterUri);
       nodeRunner.run(image, nodeConfiguration);
     }
   }

android_tutorial_orientation_publisher/AndroidManifest.xml

@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-      package="org.ros.rosjava.android.tutorials.orientation_publisher"
-      android:versionCode="1"
-      android:versionName="1.0">
-    <uses-sdk android:minSdkVersion="9" />
-    <uses-permission android:name="android.permission.INTERNET"></uses-permission>
-
-    <application android:icon="@drawable/icon" android:label="@string/app_name">
-        <activity android:name="org.ros.tutorials.orientation_publisher.MainActivity"
-                  android:label="@string/app_name" android:screenOrientation="landscape"
-                  android:configChanges="keyboardHidden|orientation">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN" />
-                <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
-        </activity>
-
-    </application>
-</manifest>

android_tutorial_orientation_publisher/proguard.cfg

@@ -1,36 +0,0 @@
--optimizationpasses 5
--dontusemixedcaseclassnames
--dontskipnonpubliclibraryclasses
--dontpreverify
--verbose
--optimizations !code/simplification/arithmetic,!field/*,!class/merging/*
-
--keep public class * extends android.app.Activity
--keep public class * extends android.app.Application
--keep public class * extends android.app.Service
--keep public class * extends android.content.BroadcastReceiver
--keep public class * extends android.content.ContentProvider
--keep public class * extends android.app.backup.BackupAgentHelper
--keep public class * extends android.preference.Preference
--keep public class com.android.vending.licensing.ILicensingService
-
--keepclasseswithmembernames class * {
-    native <methods>;
-}
-
--keepclasseswithmembernames class * {
-    public <init>(android.content.Context, android.util.AttributeSet);
-}
-
--keepclasseswithmembernames class * {
-    public <init>(android.content.Context, android.util.AttributeSet, int);
-}
-
--keepclassmembers enum * {
-    public static **[] values();
-    public static ** valueOf(java.lang.String);
-}
-
--keep class * implements android.os.Parcelable {
-  public static final android.os.Parcelable$Creator *;
-}

android_tutorial_orientation_publisher/res/layout/main.xml

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:orientation="vertical"
-    android:layout_width="fill_parent"
-    android:layout_height="fill_parent"
-    >
-<org.ros.rosjava.android.views.RosTextView  
-    android:layout_width="fill_parent" 
-    android:layout_height="wrap_content" 
-    android:id="@+id/text"
-    />
-</LinearLayout>

android_tutorial_orientation_publisher/res/values/strings.xml

@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-    <string name="hello">Hello World, MainActivity!</string>
-    <string name="app_name">OrientationPublisherTutorial</string>
-</resources>

android_tutorial_orientation_publisher/src/org/ros/tutorials/orientation_publisher/MainActivity.java

@@ -1,84 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- * 
- * http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.tutorials.orientation_publisher;
-
-import android.app.Activity;
-import android.hardware.SensorManager;
-import android.os.Bundle;
-
-import org.ros.NodeConfiguration;
-import org.ros.NodeRunner;
-import org.ros.internal.node.address.InetAddressFactory;
-import org.ros.rosjava.android.MessageCallable;
-import org.ros.rosjava.android.OrientationPublisher;
-import org.ros.rosjava.android.tutorials.orientation_publisher.R;
-import org.ros.rosjava.android.views.RosTextView;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class MainActivity extends Activity {
-
-  private final NodeRunner nodeRunner;
-  private OrientationPublisher publisher;
-  private RosTextView<org.ros.message.geometry_msgs.PoseStamped> rosTextView;
-
-  public MainActivity() {
-    super();
-    nodeRunner = NodeRunner.createDefault();
-  }
-
-  @SuppressWarnings("unchecked")
-  @Override
-  public void onCreate(Bundle savedInstanceState) {
-    super.onCreate(savedInstanceState);
-    setContentView(R.layout.main);
-    rosTextView = (RosTextView<org.ros.message.geometry_msgs.PoseStamped>) findViewById(R.id.text);
-    rosTextView.setTopicName("/android/orientation");
-    rosTextView.setMessageType("geometry_msgs/PoseStamped");
-    rosTextView
-        .setMessageToStringCallable(new MessageCallable<String, org.ros.message.geometry_msgs.PoseStamped>() {
-          @Override
-          public String call(org.ros.message.geometry_msgs.PoseStamped message) {
-            return "x: " + message.pose.orientation.x + "\ny: " + message.pose.orientation.y
-                + "\nz: " + message.pose.orientation.z + "\nw: " + message.pose.orientation.w;
-          }
-        });
-    publisher = new OrientationPublisher((SensorManager) getSystemService(SENSOR_SERVICE));
-  }
-  
-  @Override
-  protected void onResume() {
-    super.onResume();
-    try {
-      NodeConfiguration nodeConfiguration = NodeConfiguration.createDefault();
-      nodeConfiguration.setHost(InetAddressFactory.createNonLoopback().getHostAddress());
-      nodeRunner.run(publisher, nodeConfiguration);
-      nodeRunner.run(rosTextView, nodeConfiguration);
-    } catch (Exception e) {
-      throw new RuntimeException(e);
-    }
-  }
-
-  @Override
-  protected void onPause() {
-    super.onPause();
-    publisher.shutdown();
-    rosTextView.shutdown();
-  }
-
-}

android_tutorial_pan_tilt_camera/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

android_tutorial_pan_tilt_camera/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_tutorial_pan_tilt_camera/build.xml

@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project name="." default="compile">
+
+  <property file="ros.properties" />
+  <property file="default.properties" />
+
+  <property name="android.tools.dir" location="${sdk.dir}/tools" />
+
+  <!-- Input directories -->
+  <property name="source.dir" value="src" />
+  <property name="source.absolute.dir" location="${source.dir}" />
+  <property name="gen.dir" value="gen" />
+  <property name="gen.absolute.dir" location="${gen.dir}" />
+  <property name="resource.dir" value="res" />
+  <property name="resource.absolute.dir" location="${resource.dir}" />
+  <property name="asset.dir" value="assets" />
+  <property name="asset.absolute.dir" location="${asset.dir}" />
+
+  <!-- Directory for the third party java libraries -->
+  <property name="external.libs.dir" value="libs" />
+  <property name="external.libs.absolute.dir" location="${external.libs.dir}" />
+
+  <!-- Directory for the native libraries -->
+  <property name="native.libs.dir" value="libs" />
+  <property name="native.libs.absolute.dir" location="${native.libs.dir}" />
+
+  <!-- Output directories -->
+  <property name="out.dir" value="build" />
+  <property name="out.absolute.dir" location="${out.dir}" />
+  <property name="out.classes.dir" value="${out.absolute.dir}/classes" />
+  <property name="out.classes.absolute.dir" location="${out.classes.dir}" />
+
+  <!-- Compilation options -->
+  <property name="java.encoding" value="UTF-8" />
+  <property name="java.target" value="1.6" />
+  <property name="java.source" value="1.6" />
+
+  <path id="android.antlibs">
+    <pathelement path="${sdk.dir}/tools/lib/anttasks.jar" />
+  </path>
+
+  <taskdef name="setup"
+    classname="com.android.ant.SetupTask"
+    classpathref="android.antlibs" />
+
+  <taskdef name="aapt"
+    classname="com.android.ant.AaptExecLoopTask"
+    classpathref="android.antlibs" />
+
+  <taskdef name="xpath"
+    classname="com.android.ant.XPathTask"
+    classpathref="android.antlibs" />
+
+  <taskdef name="if"
+    classname="com.android.ant.IfElseTask"
+    classpathref="android.antlibs" />
+
+  <!-- Name of the application package extracted from manifest file -->
+  <xpath input="AndroidManifest.xml" expression="/manifest/@package"
+    output="manifest.package" />
+  <xpath input="AndroidManifest.xml" expression="/manifest/application/@android:hasCode"
+    output="manifest.hasCode" default="true" />
+
+  <!-- Verbosity -->
+  <property name="verbose" value="false" />
+  <!-- This is needed by emma as it uses multilevel verbosity instead of simple 'true' or 'false'
+         The property 'verbosity' is not user configurable and depends exclusively on 'verbose'
+         value. -->
+  <condition property="verbosity" value="verbose" else="quiet">
+    <istrue value="${verbose}" />
+  </condition>
+
+  <!-- Tools -->
+  <condition property="exe" value=".exe" else=""><os family="windows" /></condition>
+
+  <!-- Emma configuration -->
+  <property name="emma.dir" value="${sdk.dir}/tools/lib" />
+  <path id="emma.lib">
+    <pathelement location="${emma.dir}/emma.jar" />
+    <pathelement location="${emma.dir}/emma_ant.jar" />
+  </path>
+  <taskdef resource="emma_ant.properties" classpathref="emma.lib" />
+  <!-- End of emma configuration -->
+
+  <!-- Rules -->
+
+  <!-- Creates the output directories if they don't exist yet. -->
+  <target name="init">
+    <echo>Creating output directories if needed...</echo>
+    <mkdir dir="${resource.absolute.dir}" />
+    <mkdir dir="${external.libs.absolute.dir}" />
+    <mkdir dir="${gen.absolute.dir}" />
+    <mkdir dir="${out.absolute.dir}" />
+    <mkdir dir="${out.classes.absolute.dir}" />
+  </target>
+
+  <!-- Generates the R.java file for this project's resources. -->
+  <target name="resources" depends="init">
+    <echo>Generating R.java / Manifest.java from the resources...</echo>
+    <aapt executable="${aapt}"
+      command="package"
+      verbose="${verbose}"
+      manifest="AndroidManifest.xml"
+      androidjar="${android.jar}"
+      rfolder="${gen.absolute.dir}">
+      <res path="${resource.absolute.dir}" />
+    </aapt>
+  </target>
+
+  <!-- Compiles this project's .java files into .class files. -->
+  <target name="compile" depends="resources"
+    description="Compiles project's .java files into .class files">
+    <javac encoding="${java.encoding}"
+      source="${java.source}" target="${java.target}"
+      debug="true" extdirs=""
+      destdir="${out.classes.absolute.dir}"
+      bootclasspathref="android.target.classpath"
+      verbose="${verbose}"
+      classpath="${extensible.classpath}"
+      classpathref="project.libraries.jars">
+      <src path="${source.absolute.dir}" />
+      <src path="${gen.absolute.dir}" />
+      <src refid="project.libraries.src" />
+      <classpath>
+        <pathelement path="${ros.compile.classpath}" />
+      </classpath>
+    </javac>
+  </target>
+
+  <target name="clean" description="Removes output files created by other targets.">
+    <delete dir="${out.absolute.dir}" verbose="${verbose}" />
+    <delete dir="${gen.absolute.dir}" verbose="${verbose}" />
+  </target>
+
+  <setup import="false" />
+
+</project>

android_tutorial_pan_tilt_camera/mainpage.dox

@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b android_tutorial_pan_tilt_camera is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

android_tutorial_pan_tilt_camera/manifest.xml

@@ -0,0 +1,24 @@
+<package>
+  <description brief="android_tutorial_pan_tilt_camera">
+
+     android_tutorial_pan_tilt_camera
+
+  </description>
+  <author>Damon Kohler</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/android_tutorial_pan_tilt_camera</url>
+
+  <depend package="rosjava"/>
+  <depend package="android"/>
+
+  <export>
+    <rosjava-android-app />
+    <rosjava-src location="src" />
+    <rosjava-src location="gen" />
+    <rosjava-src location="res" />
+  </export>
+
+</package>
+
+

android_tutorial_pan_tilt_camera/src/org/ros/rosjava/android/pan_tilt_camera/MainActivity.java

@@ -17,17 +17,21 @@
 package org.ros.rosjava.android.pan_tilt_camera;
 
 import android.app.Activity;
+import android.content.Intent;
 import android.hardware.SensorManager;
 import android.os.Bundle;
-
-import org.ros.NodeConfiguration;
-import org.ros.NodeRunner;
-import org.ros.internal.node.address.InetAddressFactory;
+import org.ros.address.InetAddressFactory;
 import org.ros.message.sensor_msgs.CompressedImage;
+import org.ros.node.NodeConfiguration;
+import org.ros.node.NodeRunner;
 import org.ros.rosjava.android.BitmapFromCompressedImage;
+import org.ros.rosjava.android.MasterChooser;
 import org.ros.rosjava.android.OrientationPublisher;
 import org.ros.rosjava.android.views.RosImageView;
 
+import java.net.URI;
+import java.net.URISyntaxException;
+
 /**
  * @author damonkohler@google.com (Damon Kohler)
  */
@@ -35,12 +39,13 @@ public class MainActivity extends Activity {
 
   private final NodeRunner nodeRunner;
 
+  private URI masterUri;
   private RosImageView<CompressedImage> image;
   private OrientationPublisher orientationPublisher;
 
   public MainActivity() {
     super();
-    nodeRunner = NodeRunner.createDefault();
+    nodeRunner = NodeRunner.newDefault();
   }
 
   @SuppressWarnings("unchecked")
@@ -49,31 +54,43 @@ public class MainActivity extends Activity {
     super.onCreate(savedInstanceState);
     setContentView(R.layout.main);
     image = (RosImageView<CompressedImage>) findViewById(R.id.image);
-    image.setTopicName("/slow_image");
+    image.setTopicName("/usb_cam/image_raw/compressed");
     image.setMessageType("sensor_msgs/CompressedImage");
     image.setMessageToBitmapCallable(new BitmapFromCompressedImage());
+    startActivityForResult(new Intent(this, MasterChooser.class), 0);
   }
 
   @Override
   protected void onResume() {
     super.onResume();
-    try {
-      NodeConfiguration nodeConfiguration = NodeConfiguration.createDefault();
-      nodeConfiguration.setHost(InetAddressFactory.createNonLoopback().getHostAddress());
+    if (masterUri != null) {
+      NodeConfiguration nodeConfiguration =
+          NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostName(), masterUri);
       orientationPublisher =
           new OrientationPublisher((SensorManager) getSystemService(SENSOR_SERVICE));
       nodeRunner.run(orientationPublisher, nodeConfiguration);
       nodeRunner.run(image, nodeConfiguration);
-    } catch (Exception e) {
-      throw new RuntimeException(e);
     }
   }
 
   @Override
   protected void onPause() {
     super.onPause();
-    image.shutdown();
-    orientationPublisher.shutdown();
+    if (masterUri != null) {
+      image.shutdown();
+      orientationPublisher.shutdown();
+    }
+  }
+
+  @Override
+  protected void onActivityResult(int requestCode, int resultCode, Intent data) {
+    if (requestCode == 0 && resultCode == RESULT_OK) {
+      try {
+        masterUri = new URI(data.getStringExtra("ROS_MASTER_URI"));
+      } catch (URISyntaxException e) {
+        throw new RuntimeException(e);
+      }
+    }
   }
 
 }

android_tutorial_pubsub/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

android_tutorial_pubsub/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_tutorial_pubsub/build.xml

@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project name="." default="compile">
+
+  <property file="ros.properties" />
+  <property file="default.properties" />
+
+  <property name="android.tools.dir" location="${sdk.dir}/tools" />
+
+  <!-- Input directories -->
+  <property name="source.dir" value="src" />
+  <property name="source.absolute.dir" location="${source.dir}" />
+  <property name="gen.dir" value="gen" />
+  <property name="gen.absolute.dir" location="${gen.dir}" />
+  <property name="resource.dir" value="res" />
+  <property name="resource.absolute.dir" location="${resource.dir}" />
+  <property name="asset.dir" value="assets" />
+  <property name="asset.absolute.dir" location="${asset.dir}" />
+
+  <!-- Directory for the third party java libraries -->
+  <property name="external.libs.dir" value="libs" />
+  <property name="external.libs.absolute.dir" location="${external.libs.dir}" />
+
+  <!-- Directory for the native libraries -->
+  <property name="native.libs.dir" value="libs" />
+  <property name="native.libs.absolute.dir" location="${native.libs.dir}" />
+
+  <!-- Output directories -->
+  <property name="out.dir" value="build" />
+  <property name="out.absolute.dir" location="${out.dir}" />
+  <property name="out.classes.dir" value="${out.absolute.dir}/classes" />
+  <property name="out.classes.absolute.dir" location="${out.classes.dir}" />
+
+  <!-- Compilation options -->
+  <property name="java.encoding" value="UTF-8" />
+  <property name="java.target" value="1.6" />
+  <property name="java.source" value="1.6" />
+
+  <path id="android.antlibs">
+    <pathelement path="${sdk.dir}/tools/lib/anttasks.jar" />
+  </path>
+
+  <taskdef name="setup"
+    classname="com.android.ant.SetupTask"
+    classpathref="android.antlibs" />
+
+  <taskdef name="aapt"
+    classname="com.android.ant.AaptExecLoopTask"
+    classpathref="android.antlibs" />
+
+  <taskdef name="xpath"
+    classname="com.android.ant.XPathTask"
+    classpathref="android.antlibs" />
+
+  <taskdef name="if"
+    classname="com.android.ant.IfElseTask"
+    classpathref="android.antlibs" />
+
+  <!-- Name of the application package extracted from manifest file -->
+  <xpath input="AndroidManifest.xml" expression="/manifest/@package"
+    output="manifest.package" />
+  <xpath input="AndroidManifest.xml" expression="/manifest/application/@android:hasCode"
+    output="manifest.hasCode" default="true" />
+
+  <!-- Verbosity -->
+  <property name="verbose" value="false" />
+  <!-- This is needed by emma as it uses multilevel verbosity instead of simple 'true' or 'false'
+         The property 'verbosity' is not user configurable and depends exclusively on 'verbose'
+         value. -->
+  <condition property="verbosity" value="verbose" else="quiet">
+    <istrue value="${verbose}" />
+  </condition>
+
+  <!-- Tools -->
+  <condition property="exe" value=".exe" else=""><os family="windows" /></condition>
+
+  <!-- Emma configuration -->
+  <property name="emma.dir" value="${sdk.dir}/tools/lib" />
+  <path id="emma.lib">
+    <pathelement location="${emma.dir}/emma.jar" />
+    <pathelement location="${emma.dir}/emma_ant.jar" />
+  </path>
+  <taskdef resource="emma_ant.properties" classpathref="emma.lib" />
+  <!-- End of emma configuration -->
+
+  <!-- Rules -->
+
+  <!-- Creates the output directories if they don't exist yet. -->
+  <target name="init">
+    <echo>Creating output directories if needed...</echo>
+    <mkdir dir="${resource.absolute.dir}" />
+    <mkdir dir="${external.libs.absolute.dir}" />
+    <mkdir dir="${gen.absolute.dir}" />
+    <mkdir dir="${out.absolute.dir}" />
+    <mkdir dir="${out.classes.absolute.dir}" />
+  </target>
+
+  <!-- Generates the R.java file for this project's resources. -->
+  <target name="resources" depends="init">
+    <echo>Generating R.java / Manifest.java from the resources...</echo>
+    <aapt executable="${aapt}"
+      command="package"
+      verbose="${verbose}"
+      manifest="AndroidManifest.xml"
+      androidjar="${android.jar}"
+      rfolder="${gen.absolute.dir}">
+      <res path="${resource.absolute.dir}" />
+    </aapt>
+  </target>
+
+  <!-- Compiles this project's .java files into .class files. -->
+  <target name="compile" depends="resources"
+    description="Compiles project's .java files into .class files">
+    <javac encoding="${java.encoding}"
+      source="${java.source}" target="${java.target}"
+      debug="true" extdirs=""
+      destdir="${out.classes.absolute.dir}"
+      bootclasspathref="android.target.classpath"
+      verbose="${verbose}"
+      classpath="${extensible.classpath}"
+      classpathref="project.libraries.jars">
+      <src path="${source.absolute.dir}" />
+      <src path="${gen.absolute.dir}" />
+      <src refid="project.libraries.src" />
+      <classpath>
+        <pathelement path="${ros.compile.classpath}" />
+      </classpath>
+    </javac>
+  </target>
+
+  <target name="clean" description="Removes output files created by other targets.">
+    <delete dir="${out.absolute.dir}" verbose="${verbose}" />
+    <delete dir="${gen.absolute.dir}" verbose="${verbose}" />
+  </target>
+
+  <setup import="false" />
+
+</project>

android_tutorial_pubsub/mainpage.dox

@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b android_tutorial_pubsub is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

android_tutorial_pubsub/manifest.xml

@@ -0,0 +1,24 @@
+<package>
+  <description brief="android_tutorial_pubsub">
+
+     android_tutorial_pubsub
+
+  </description>
+  <author>Damon Kohler</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/android_tutorial_pubsub</url>
+
+  <depend package="rosjava"/>
+  <depend package="android"/>
+
+  <export>
+    <rosjava-android-app />
+    <rosjava-src location="src" />
+    <rosjava-src location="gen" />
+    <rosjava-src location="res" />
+  </export>
+
+</package>
+
+

android_tutorial_pubsub/src/org/ros/tutorials/pubsub/MainActivity.java

@@ -18,10 +18,9 @@ package org.ros.tutorials.pubsub;
 
 import android.app.Activity;
 import android.os.Bundle;
-
-import org.ros.NodeConfiguration;
-import org.ros.NodeRunner;
 import org.ros.RosCore;
+import org.ros.node.NodeConfiguration;
+import org.ros.node.NodeRunner;
 import org.ros.rosjava.android.MessageCallable;
 import org.ros.rosjava.android.views.RosTextView;
 
@@ -37,8 +36,7 @@ public class MainActivity extends Activity {
   private Talker talker;
 
   public MainActivity() {
-    super();
-    nodeRunner = NodeRunner.createDefault();
+    nodeRunner = NodeRunner.newDefault();
   }
   
   @SuppressWarnings("unchecked")
@@ -70,8 +68,8 @@ public class MainActivity extends Activity {
   protected void onResume() {
     super.onResume();
     try {
-      rosCore = RosCore.createPublic(11311);
-      NodeConfiguration nodeConfiguration = NodeConfiguration.createDefault();
+      rosCore = RosCore.newPrivate();
+      NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate();
       nodeRunner.run(rosCore, nodeConfiguration);
       rosCore.awaitStart();
       nodeConfiguration.setMasterUri(rosCore.getUri());

android_tutorial_pubsub/src/org/ros/tutorials/pubsub/Talker.java

@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.tutorials.pubsub;
+
+import com.google.common.base.Preconditions;
+
+import org.ros.node.DefaultNodeFactory;
+import org.ros.node.Node;
+import org.ros.node.NodeConfiguration;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Publisher;
+
+// TODO(damonkohler): Move this to a rosjava_tutorial package.
+/**
+ * This is a simple rosjava {@link Publisher} {@link Node}. It assumes an
+ * external roscore is already running.
+ * 
+ * @author ethan.rublee@gmail.com (Ethan Rublee)
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class Talker implements NodeMain {
+
+  private Node node;
+
+  @Override
+  public void main(NodeConfiguration configuration) {
+    Preconditions.checkState(node == null);
+    Preconditions.checkNotNull(configuration);
+    try {
+      node = new DefaultNodeFactory().newNode("talker", configuration);
+      Publisher<org.ros.message.std_msgs.String> publisher =
+          node.newPublisher("chatter", "std_msgs/String");
+      int seq = 0;
+      while (true) {
+        org.ros.message.std_msgs.String str = new org.ros.message.std_msgs.String();
+        str.data = "Hello world! " + seq++;
+        publisher.publish(str);
+        Thread.sleep(1000);
+      }
+    } catch (Exception e) {
+      if (node != null) {
+        node.getLog().fatal(e);
+      } else {
+        e.printStackTrace();
+      }
+    }
+  }
+
+  @Override
+  public void shutdown() {
+    node.shutdown();
+    node = null;
+  }
+
+}