在Android中使用ROS

[BITLiuYu]

我的系统是Ubuntu，所有的设置也是按照您的教程做的，但是run的时候就立即闪退。
其中，修改app的build.gradle时出现错误：

Error:Conflict with dependency 'com.google.code.findbugs:jsr305' in project ':app'. Resolved versions for app (1.3.9) and test app (2.0.1) differ. See http://g.co/androidstudio/app-test-app-conflict for details.

按照网上的方式，进行修改，在Android节点下添加:

configurations.all {
resolutionStrategy.force 'com.google.code.findbugs:jsr305:1.3.9'
}

不知道是否会影响

我的build.gradle为：

apply plugin: 'com.android.application'

android {
compileSdkVersion 25
//buildToolsVersion '25.0.0'
defaultConfig {
applicationId "com.example.rostest"
minSdkVersion 15
targetSdkVersion 25
versionCode 1
versionName "1.0"
testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
}
buildTypes {
release {
minifyEnabled false
proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
}
}
productFlavors {
}

configurations.all {
    resolutionStrategy.force 'com.google.code.findbugs:jsr305:1.3.9'
}

}

dependencies {
compile fileTree(include: ['*.jar'], dir: 'libs')
androidTestCompile('com.android.support.test.espresso:espresso-core:2.2.2', {
exclude group: 'com.android.support', module: 'support-annotations'
})
compile 'com.android.support:appcompat-v7:25.+'
compile 'com.android.support.constraint:constraint-layout:1.0.2'
testCompile 'junit:junit:4.12'

//androidTestCompile 'com.android.support.test:runner:1.0.2'
//androidTestCompile 'com.android.support.test.espresso:espresso-core:2.2.2'

compile 'org.ros.android_core:android_10:[0.3,0.4)'

}

[weijiz]

@bitliuyu 在 在Android中使用ROS 中说：

versionName

可以运行例子的Android项目吗？
闪退后Logcat里面的错误是什么？
是不是没有设置网络权限？

[BITLiuYu]

@weijiz 可以运行自带的HelloWorld，但是改为您写的MainActivity就会闪退，URI.create我已经改为自己的ip地址了。logcat错误信息为：
10-15 17:16:56.627 32148-32148/org.bwbot.rostest E/AndroidRuntime: FATAL EXCEPTION: main
Process: org.bwbot.rostest, PID: 32148
java.lang.RuntimeException: Unable to instantiate activity ComponentInfo{org.bwbot.rostest/org.bwbot.rostest.MainActivity}: java.lang.IllegalAccessException: void org.bwbot.rostest.MainActivity.() is not accessible from java.lang.Class<android.app.AppComponentFactory>
at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:2843)
at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:3048)
at android.app.servertransaction.LaunchActivityItem.execute(LaunchActivityItem.java:78)
at android.app.servertransaction.TransactionExecutor.executeCallbacks(TransactionExecutor.java:108)
at android.app.servertransaction.TransactionExecutor.execute(TransactionExecutor.java:68)
at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1808)
at android.os.Handler.dispatchMessage(Handler.java:106)
at android.os.Looper.loop(Looper.java:193)
at android.app.ActivityThread.main(ActivityThread.java:6669)
at java.lang.reflect.Method.invoke(Native Method)
at com.android.internal.os.RuntimeInit$MethodAndArgsCaller.run(RuntimeInit.java:493)
at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:858)
Caused by: java.lang.IllegalAccessException: void org.bwbot.rostest.MainActivity.() is not accessible from java.lang.Class<android.app.AppComponentFactory>
at java.lang.Class.newInstance(Native Method)
at android.app.AppComponentFactory.instantiateActivity(AppComponentFactory.java:69)
at android.app.Instrumentation.newActivity(Instrumentation.java:1215)
at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:2831)
at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:3048) 
at android.app.servertransaction.LaunchActivityItem.execute(LaunchActivityItem.java:78) 
at android.app.servertransaction.TransactionExecutor.executeCallbacks(TransactionExecutor.java:108) 
at android.app.servertransaction.TransactionExecutor.execute(TransactionExecutor.java:68) 
at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1808) 
at android.os.Handler.dispatchMessage(Handler.java:106) 
at android.os.Looper.loop(Looper.java:193) 
at android.app.ActivityThread.main(ActivityThread.java:6669) 
at java.lang.reflect.Method.invoke(Native Method) 
at com.android.internal.os.RuntimeInit$MethodAndArgsCaller.run(RuntimeInit.java:493) 
at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:858)

[weijiz]

@bitliuyu 在 在Android中使用ROS 中说：

lass<android.app.AppComponentFactory>

从错误看不像是gradle的设置问题。你可以把你的代码发github上，我给你看看。

[BITLiuYu]

@weijiz 这是我上传到github上的代码
https://github.com/BITLiuYu/ROSTest.git
多谢您能帮我看一下

[weijiz]

@bitliuyu 你的程序我可以正常运行额

用的是这个配置

[BITLiuYu]

@weijiz 我的程序也跑通了，是一个设置出了问题，修改过程是：
打开IDE，进入File—>Setting—>Build,Execution,Deployment—>Instant Run
将将enable instant run to hot swap code/resource changes on deploy勾上!

[gongyue666]

请问导入的自建消息,如何在jni中调用呢?

[gongyue666]

@gongyue666 好像是给java用的,如果是给c++用的自建消息应该如何导入呢?

[几何木偶]

为什么编译总是这个错误？是依赖错了吗？

Caused by: org.gradle.api.resources.ResourceException: Could not get resource 'https://github.com/rosjava/android_core/raw/kinetic/buildscript.gradle'.
	at org.gradle.internal.resource.ResourceExceptions.failure(ResourceExceptions.java:74)
	at org.gradle.internal.resource.ResourceExceptions.getFailed(ResourceExceptions.java:57)
	at org.gradle.api.internal.artifacts.repositories.resolver.DefaultExternalResourceAccessor.resolve(DefaultExternalResourceAccessor.java:67)
	at org.gradle.api.internal.artifacts.repositories.resolver.DefaultExternalResourceAccessor.resolveUri(DefaultExternalResourceAccessor.java:47)
	at org.gradle.internal.resource.transfer.DefaultUriTextResourceLoader.loadUri(DefaultUriTextResourceLoader.java:43)
	at org.gradle.api.internal.plugins.DefaultObjectConfigurationAction.applyScript(DefaultObjectConfigurationAction.java:103)
	at org.gradle.api.internal.plugins.DefaultObjectConfigurationAction.access$000(DefaultObjectConfigurationAction.java:38)
	at org.gradle.api.internal.plugins.DefaultObjectConfigurationAction$1.run(DefaultObjectConfigurationAction.java:68)
	at org.gradle.api.internal.plugins.DefaultObjectConfigurationAction.execute(DefaultObjectConfigurationAction.java:143)
	at org.gradle.api.internal.project.AbstractPluginAware.apply(AbstractPluginAware.java:46)
	at org.gradle.api.internal.project.ProjectScript.apply(ProjectScript.java:34)
	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.lang.reflect.Method.invoke(Method.java:498)
	at org.codehaus.groovy.reflection.CachedMethod.invoke(CachedMethod.java:93)
	at groovy.lang.MetaMethod.doMethodInvoke(MetaMethod.java:325)
	at org.gradle.internal.metaobject.BeanDynamicObject$MetaClassAdapter.invokeMethod(BeanDynamicObject.java:479)
	at org.gradle.internal.metaobject.BeanDynamicObject.tryInvokeMethod(BeanDynamicObject.java:191)
	at org.gradle.groovy.scripts.BasicScript$ScriptDynamicObject.tryInvokeMethod(BasicScript.java:130)
	at org.gradle.internal.metaobject.ConfigureDelegate.invokeMethod(ConfigureDelegate.java:78)
	at org.codehaus.groovy.runtime.metaclass.ClosureMetaClass.invokeOnDelegationObjects(ClosureMetaClass.java:430)
	at org.codehaus.groovy.runtime.metaclass.ClosureMetaClass.invokeMethod(ClosureMetaClass.java:369)
	at groovy.lang.MetaClassImpl.invokeMethod(MetaClassImpl.java:1022)
	at org.codehaus.groovy.runtime.callsite.PogoMetaClassSite.callCurrent(PogoMetaClassSite.java:69)

Caused by: org.gradle.internal.resource.transport.http.HttpRequestException: Could not HEAD 'https://github.com/rosjava/android_core/raw/kinetic/buildscript.gradle'.
	at org.gradle.internal.resource.transport.http.HttpClientHelper.performRequest(HttpClientHelper.java:96)
	at org.gradle.internal.resource.transport.http.HttpClientHelper.performRawHead(HttpClientHelper.java:72)
	at org.gradle.internal.resource.transport.http.HttpClientHelper.performHead(HttpClientHelper.java:76)
	at org.gradle.internal.resource.transport.http.HttpResourceAccessor.getMetaData(HttpResourceAccessor.java:65)
	at org.gradle.internal.resource.transfer.DefaultExternalResourceConnector.getMetaData(DefaultExternalResourceConnector.java:63)
	at org.gradle.internal.resource.transfer.AccessorBackedExternalResource.getMetaData(AccessorBackedExternalResource.java:201)
	at org.gradle.internal.resource.BuildOperationFiringExternalResourceDecorator$1.call(BuildOperationFiringExternalResourceDecorator.java:61)
	at org.gradle.internal.resource.BuildOperationFiringExternalResourceDecorator$1.call(BuildOperationFiringExternalResourceDecorator.java:58)
	at org.gradle.internal.progress.DefaultBuildOperationExecutor$CallableBuildOperationWorker.execute(DefaultBuildOperationExecutor.java:350)
	at org.gradle.internal.progress.DefaultBuildOperationExecutor$CallableBuildOperationWorker.execute(DefaultBuildOperationExecutor.java:340)
	at org.gradle.internal.progress.DefaultBuildOperationExecutor.execute(DefaultBuildOperationExecutor.java:199)
	at org.gradle.internal.progress.DefaultBuildOperationExecutor.call(DefaultBuildOperationExecutor.java:120)
	at org.gradle.internal.resource.BuildOperationFiringExternalResourceDecorator.getMetaData(BuildOperationFiringExternalResourceDecorator.java:58)
	at org.gradle.internal.resource.transfer.DefaultCacheAwareExternalResourceAccessor$1.create(DefaultCacheAwareExternalResourceAccessor.java:102)
	at org.gradle.internal.resource.transfer.DefaultCacheAwareExternalResourceAccessor$1.create(DefaultCacheAwareExternalResourceAccessor.java:82)
	at org.gradle.cache.internal.ProducerGuard$AdaptiveProducerGuard.guardByKey(ProducerGuard.java:97)
	at org.gradle.internal.resource.transfer.DefaultCacheAwareExternalResourceAccessor.getResource(DefaultCacheAwareExternalResourceAccessor.java:82)