ros2-android-build

Cross-compile rcljava — the ROS 2 Java client library — and its dependencies for Android.

This branch carries no build files. The build lives on one branch per ROS 2 distro, each self-contained: its own pinned .repos file, patch set, Dockerfile and CI workflow. Pick the branch for the distro you want.

Branch	Distro	Upstream pin	Base image	Upstream EOL
humble	Humble Hawksbill	release-humble-20260220	Ubuntu 22.04	May 2027
jazzy	Jazzy Jalisco	release-jazzy-20260618	Ubuntu 24.04	May 2029
lyrical	Lyrical Luth	release-lyrical-20260623	Ubuntu 26.04	May 2031

Each branch's pin is recorded in the # ros2-release: line at the top of its ros2_java_android.repos and matches an official ros2/ros2 release tag. That line is the single source of truth: CI refuses to publish a release whose tag disagrees with it.

Prebuilt libraries

Most people want Releases rather than a build. Each release is tagged release-<distro>-<YYYYMMDD> and carries:

• *-soOut.tar.gz — native libraries → app/src/main/jniLibs/arm64-v8a
• *-jarOut.tar.gz — Java libraries → app/libs/rcljava
• SHA256SUMS.txt — checksums for both

All builds target NDK r28, ABI arm64-v8a, Android API level 24, and include the Fast-DDS, Cyclone DDS and Zenoh RMW implementations.

Building

git clone https://github.com/nicholaslu/ros2-android-build
cd ros2-android-build/
git switch lyrical                              # or humble / jazzy
docker build -t ros2java-android-build:lyrical ./
python3 run.py ./out/soOut ./out/jarOut

See that branch's README for the full instructions, including how to add your own packages to the workspace and how to cut a release.

Why branches instead of directories

The distros do not differ by a flag or two. They need different Ubuntu bases, different Python and CMake versions, different upstream package sets, and largely disjoint patch sets — ROS 2's ongoing retirement of vendor packages in favour of rosdep-supplied system libraries means each distro breaks an Android cross-build in its own way. Keeping them on separate branches lets each stay simple and lets a distro be fixed, tagged and released without touching the others.