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The Hydro instructions for using the latest ROSjava are pretty good. This should give you a good starting point. Unless you have strong objections, I would recommend using Hydro. The Groovy version may also work but they are not up to date. I haven't used them for a month or so.
You can also use the Getting Started with ROSjava instructions if you just want to quickly get started with running Android apps for ROS without making changes to the underlying libraries. These instructions do not require you to use catkin at all as you build everything through Android Studio and the libraries are pulled from Maven repos.
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