You can get this application from android_map_nav.

Application Status

• Default Robot: turtlebot
• Default App: turtlebot_core_apps/android_map_nav

Node information

/android/virtual_joystick

Publishing

• Topic: /cmd_vel
• Type: geometry_msgs/Twist

Subscribing

• Topic: /odom
• Type: nav_msgs/Odometry

/android/camera_view

Publishing

• None

Subscribing

• Topic: (robot_name)/application/camera/rgb/image_color/compressed_throttle

• Type: sensor_msgs/CompressedImage

/android/map_view

Publishing

• Topic: /move_base/goal
• Type: move_base_msgs/MoveBaseActionGoal
• Topic: /initialpose
• Type: geometry_msgs/PoseWithCovariancesStamped

Subscribing

• Topic: /tf
• Type: tf/tfMessage
• Topic: /move_base/NavfnROS/plan
• Type: nav_msgs/Path
• Topic: /map
• Type: nav_msgs/OccupancyGrid

/android/list_maps

Service Client

• Name: /list_maps
• Type: map_store/ListMaps

/android/publish_map

Service Client

• Name: /publish_map
• Type: map_store/PublishMap