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I do not recommend using the Android emulator (performance is really bad). In theory, you could set things up using adb port forwarding: http://developer.android.com/guide/developing/tools/adb.html#forwardports

In practice, this isn't really possible since rosjava does not currently allow you to configure port ranges that should be used. Please file a feature request if that is something you need: http://code.google.com/p/rosjava/issues/list

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