@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!

@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 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)

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)'

}