android_core_components/res/layout/master_chooser.xml

@@ -62,7 +62,6 @@
         android:onClick="advancedCheckboxClicked"
         android:text="@string/show_advanced"/>
 
-
     <LinearLayout
         android:orientation="vertical"
         android:layout_width="fill_parent"
@@ -120,14 +119,7 @@
         android:layout_gravity="bottom"
         android:onClick="cancelButtonClicked"
         android:text="@string/cancel"/>
-    <Button
+
-        android:id="@+id/reset_node_prefix"
-        style="@style/padded"
-        android:layout_width="fill_parent"
-        android:layout_height="wrap_content"
-        android:layout_gravity="bottom"
-        android:onClick="resetNodePrefixButtonClicked"
-        android:text="@string/reset_node_prefix"/>
     <LinearLayout
         android:id="@+id/connection_layout"
         android:layout_width="match_parent"

android_core_components/res/values/common_strings.xml

@@ -4,7 +4,6 @@
     <string name="app_name">ROS for Android</string>
     <string name="use_master">Connect</string>
     <string name="cancel">Cancel</string>
-    <string name="reset_node_prefix">Reset Prefix</string>
     <string name="qr_code">Read QRCode</string>
     <string name="master_uri_hint">http://localhost:11311/</string>
     <string name="new_master">New Public Master</string>

android_core_components/src/main/java/org/ros/android/MasterChooser.java

@@ -30,7 +30,6 @@ import android.os.Bundle;
 import android.support.v7.app.AppCompatActivity;
 import android.text.Editable;
 import android.text.TextWatcher;
-import android.util.Log;
 import android.view.View;
 import android.widget.AutoCompleteTextView;
 import android.widget.Button;
@@ -56,7 +55,6 @@ import java.util.Collections;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Locale;
-import java.util.Random;
 import java.util.Set;
 import java.util.regex.Pattern;
 
@@ -118,8 +116,6 @@ public class MasterChooser extends AppCompatActivity {
    */
   private static final int RECENT_MASTER_HISTORY_COUNT = 5;
 
-  private static boolean resetNodePrefix = false;
-
   private String selectedInterface;
   private AutoCompleteTextView uriText;
   private Button connectButton;
@@ -347,14 +343,6 @@ public class MasterChooser extends AppCompatActivity {
     }
   }
 
-  public void resetNodePrefixButtonClicked(View unused) {
-    resetNodePrefix = true;
-  }
-
-  public static boolean getResetNodePrefixButtonClicked(){
-    return resetNodePrefix;
-  }
-
   public void advancedCheckboxClicked(View view) {
     boolean checked = ((CheckBox) view).isChecked();
     LinearLayout advancedOptions = (LinearLayout) findViewById(R.id.advancedOptions);

android_core_components/src/main/java/org/ros/android/view/camera/CameraPreviewView.java

@@ -18,11 +18,16 @@ package org.ros.android.view.camera;
 
 import com.google.common.base.Preconditions;
 
+import android.content.Context;
 import android.graphics.ImageFormat;
-import android.graphics.SurfaceTexture;
 import android.hardware.Camera;
 import android.hardware.Camera.PreviewCallback;
 import android.hardware.Camera.Size;
+import android.util.AttributeSet;
+import android.view.SurfaceHolder;
+import android.view.SurfaceView;
+import android.view.View;
+import android.view.ViewGroup;
 import org.ros.exception.RosRuntimeException;
 
 import java.io.IOException;
@@ -33,22 +38,17 @@ import java.util.List;
  * 
  * @author damonkohler@google.com (Damon Kohler)
  */
-public class CameraPreviewView {
+public class CameraPreviewView extends ViewGroup {
 
   private final static double ASPECT_TOLERANCE = 0.1;
 
-  private SurfaceTexture surfaceTexture;
+  private SurfaceHolder surfaceHolder;
   private Camera camera;
   private Size previewSize;
   private byte[] previewBuffer;
   private RawImageListener rawImageListener;
   private BufferingPreviewCallback bufferingPreviewCallback;
 
-  public CameraPreviewView() {
-    surfaceTexture = new SurfaceTexture(10);
-    bufferingPreviewCallback = new BufferingPreviewCallback();
-  }
-
   private final class BufferingPreviewCallback implements PreviewCallback {
     @Override
     public void onPreviewFrame(byte[] data, Camera camera) {
@@ -61,6 +61,52 @@ public class CameraPreviewView {
     }
   }
 
+  private final class SurfaceHolderCallback implements SurfaceHolder.Callback {
+    @Override
+    public void surfaceChanged(SurfaceHolder holder, int format, int width, int height) {
+    }
+
+    @Override
+    public void surfaceCreated(SurfaceHolder holder) {
+      try {
+        if (camera != null) {
+          camera.setPreviewDisplay(holder);
+        }
+      } catch (IOException e) {
+        throw new RosRuntimeException(e);
+      }
+    }
+
+    @Override
+    public void surfaceDestroyed(SurfaceHolder holder) {
+      releaseCamera();
+    }
+  }
+
+  private void init(Context context) {
+    SurfaceView surfaceView = new SurfaceView(context);
+    addView(surfaceView);
+    surfaceHolder = surfaceView.getHolder();
+    surfaceHolder.addCallback(new SurfaceHolderCallback());
+    surfaceHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
+    bufferingPreviewCallback = new BufferingPreviewCallback();
+  }
+
+  public CameraPreviewView(Context context) {
+    super(context);
+    init(context);
+  }
+
+  public CameraPreviewView(Context context, AttributeSet attrs) {
+    super(context, attrs);
+    init(context);
+  }
+
+  public CameraPreviewView(Context context, AttributeSet attrs, int defStyle) {
+    super(context, attrs, defStyle);
+    init(context);
+  }
+
   public void releaseCamera() {
     if (camera == null) {
       return;
@@ -87,7 +133,7 @@ public class CameraPreviewView {
     camera.startPreview();
     try {
       // This may have no effect if the SurfaceHolder is not yet created.
-      camera.setPreviewTexture(surfaceTexture);
+      camera.setPreviewDisplay(surfaceHolder);
     } catch (IOException e) {
       throw new RosRuntimeException(e);
     }
@@ -96,7 +142,7 @@ public class CameraPreviewView {
   private void setupCameraParameters() {
     Camera.Parameters parameters = camera.getParameters();
     List<Size> supportedPreviewSizes = parameters.getSupportedPreviewSizes();
-    previewSize = getOptimalPreviewSize(supportedPreviewSizes, 640, 480);
+    previewSize = getOptimalPreviewSize(supportedPreviewSizes, getWidth(), getHeight());
     parameters.setPreviewSize(previewSize.width, previewSize.height);
     parameters.setPreviewFormat(ImageFormat.NV21);
     camera.setParameters(parameters);
@@ -142,4 +188,29 @@ public class CameraPreviewView {
     camera.addCallbackBuffer(previewBuffer);
     camera.setPreviewCallbackWithBuffer(bufferingPreviewCallback);
   }
+
+  @Override
+  protected void onLayout(boolean changed, int l, int t, int r, int b) {
+    if (changed && getChildCount() > 0) {
+      final View child = getChildAt(0);
+      final int width = r - l;
+      final int height = b - t;
+
+      int previewWidth = width;
+      int previewHeight = height;
+      if (previewSize != null) {
+        previewWidth = previewSize.width;
+        previewHeight = previewSize.height;
+      }
+
+      // Center the child SurfaceView within the parent.
+      if (width * previewHeight > height * previewWidth) {
+        final int scaledChildWidth = previewWidth * height / previewHeight;
+        child.layout((width - scaledChildWidth) / 2, 0, (width + scaledChildWidth) / 2, height);
+      } else {
+        final int scaledChildHeight = previewHeight * width / previewWidth;
+        child.layout(0, (height - scaledChildHeight) / 2, width, (height + scaledChildHeight) / 2);
+      }
+    }
+  }
 }

android_core_components/src/main/java/org/ros/android/view/camera/CompressedImagePublisher.java

@@ -62,16 +62,13 @@ class CompressedImagePublisher implements RawImageListener {
     private Rect rect;
     private ChannelBufferOutputStream stream;
 
-    private static String sID;
+    public CompressedImagePublisher(ConnectedNode connectedNode) {
-
-    public CompressedImagePublisher(ConnectedNode connectedNode, String nodeID) {
-        sID = nodeID;
         this.connectedNode = connectedNode;
         this.loadStatus = false;
         this.yamlFile = "camera.yaml";
         this.lastTime = connectedNode.getCurrentTime();
 
-        NameResolver resolver = connectedNode.getResolver().newChild("android_" + sID + "_camera");
+        NameResolver resolver = connectedNode.getResolver().newChild("camera");
         imagePublisher =
                 connectedNode.newPublisher(resolver.resolve("image/compressed"), sensor_msgs.CompressedImage._TYPE);
         cameraInfoPublisher =

android_core_components/src/main/java/org/ros/android/view/camera/RosCameraPreviewView.java

@@ -30,20 +30,26 @@ import org.ros.node.NodeMain;
  */
 public class RosCameraPreviewView extends CameraPreviewView implements NodeMain {
 
-  private static String sID;
+  public RosCameraPreviewView(Context context) {
+    super(context);
+  }
 
-  public RosCameraPreviewView(String nodeID){
+  public RosCameraPreviewView(Context context, AttributeSet attrs) {
-    sID = nodeID;
+    super(context, attrs);
+  }
+
+  public RosCameraPreviewView(Context context, AttributeSet attrs, int defStyle) {
+    super(context, attrs, defStyle);
   }
 
   @Override
   public GraphName getDefaultNodeName() {
-    return GraphName.of("android_"+sID+"_camera");
+    return GraphName.of("ros_camera_preview_view");
   }
 
   @Override
   public void onStart(ConnectedNode connectedNode) {
-    setRawImageListener(new CompressedImagePublisher(connectedNode, sID));
+    setRawImageListener(new CompressedImagePublisher(connectedNode));
   }
 
   @Override

android_tutorial_camera/src/org/ros/android/android_tutorial_camera/MainActivity.java

@@ -50,7 +50,7 @@ public class MainActivity extends RosActivity {
     requestWindowFeature(Window.FEATURE_NO_TITLE);
     getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
     setContentView(R.layout.main);
-    //rosCameraPreviewView = (RosCameraPreviewView) findViewById(R.id.ros_camera_preview_view);
+    rosCameraPreviewView = (RosCameraPreviewView) findViewById(R.id.ros_camera_preview_view);
   }
 
   @Override

android_tutorial_camera_imu/res/values/strings.xml

@@ -1,4 +1,3 @@
 <resources>
     <string name="app_name">CameraImu</string>
-    <string name="sID_key">sID</string>
 </resources>

android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/ImuPublisher.java

@@ -54,7 +54,6 @@ import org.ros.node.topic.Publisher;
  * @author axelfurlan@gmail.com (Axel Furlan)
  */
 public class ImuPublisher implements NodeMain {
-    private static String sID;
     private ImuThread imuThread;
     private SensorListener sensorListener;
     private SensorManager sensorManager;
@@ -161,7 +160,7 @@ public class ImuPublisher implements NodeMain {
                 //long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
                 //this.imu.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
                 this.imu.getHeader().setStamp(connectedNode.getCurrentTime());
-                this.imu.getHeader().setFrameId("/android_" + sID + "imu");// TODO Make parameter
+                this.imu.getHeader().setFrameId("/imu");// TODO Make parameter
 
                 publisher.publish(this.imu);
 
@@ -177,13 +176,12 @@ public class ImuPublisher implements NodeMain {
     }
 
 
-    public ImuPublisher(SensorManager manager, String nodeID) {
+    public ImuPublisher(SensorManager manager) {
         this.sensorManager = manager;
-        sID = nodeID;
     }
 
     public GraphName getDefaultNodeName() {
-        return GraphName.of("android_" + sID + "/imuPublisher");
+        return GraphName.of("android_sensors_driver/imuPublisher");
     }
 
     public void onError(Node node, Throwable throwable) {
@@ -192,7 +190,7 @@ public class ImuPublisher implements NodeMain {
     public void onStart(ConnectedNode node) {
         try {
             this.connectedNode = node;
-            this.publisher = node.newPublisher("android_" + sID + "/imu", "sensor_msgs/Imu");
+            this.publisher = node.newPublisher("android/imu", "sensor_msgs/Imu");
             // 	Determine if we have the various needed sensors
             boolean hasAccel = false;
             boolean hasGyro = false;

android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/MainActivity.java

@@ -17,7 +17,6 @@ package org.ros.android.android_tutorial_camera_imu;
 
 import android.Manifest;
 import android.annotation.TargetApi;
-import android.app.Activity;
 import android.content.Context;
 import android.content.pm.PackageManager;
 import android.hardware.Camera;
@@ -27,23 +26,14 @@ import android.os.Build;
 import android.os.Bundle;
 import android.support.v4.app.ActivityCompat;
 import android.view.MotionEvent;
-import android.view.View;
 import android.view.Window;
 import android.view.WindowManager;
-import android.widget.CompoundButton;
-import android.widget.RadioButton;
-import android.widget.Switch;
 import android.widget.Toast;
-
-import android.util.Log;
 import org.ros.address.InetAddressFactory;
-import org.ros.android.MasterChooser;
 import org.ros.android.RosActivity;
 import org.ros.android.view.camera.RosCameraPreviewView;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMainExecutor;
-import android.content.SharedPreferences;
-import java.util.Random;
 
 /**
  * @author ethan.rublee@gmail.com (Ethan Rublee)
@@ -58,18 +48,9 @@ public class MainActivity extends RosActivity {
     private NavSatFixPublisher fix_pub;
     private ImuPublisher imu_pub;
 
-    private Switch cameraSwitch;
-    private Switch imuSwitch;
-    private Switch gpsSwitch;
-
-    private boolean cameraRunning;
-
     private NodeMainExecutor nodeMainExecutor;
     private LocationManager mLocationManager;
     private SensorManager mSensorManager;
-    private static String sID = "";
-
-    private NodeConfiguration nodeConfigurationGPS, nodeConfigurationCamera, nodeConfigurationImu;
 
     public MainActivity() {
         super("ROS", "Camera & Imu");
@@ -79,76 +60,28 @@ public class MainActivity extends RosActivity {
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
 
+        requestWindowFeature(Window.FEATURE_NO_TITLE);
+        getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
         setContentView(R.layout.activity_main);
-        cameraRunning = false;
-        cameraSwitch = (Switch) findViewById(R.id.camera_switch);
-        imuSwitch = (Switch) findViewById(R.id.imu_switch);
-        gpsSwitch = (Switch) findViewById(R.id.gps_switch);
 
-        imuSwitch.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+        rosCameraPreviewView = findViewById(R.id.ros_camera_preview_view);
-            @Override
+        mLocationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
-            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+        mSensorManager = (SensorManager) this.getSystemService(SENSOR_SERVICE);
-
-                if(isChecked)
-                    nodeMainExecutor.execute(imu_pub, nodeConfigurationImu);
-
-                else
-                    nodeMainExecutor.shutdownNodeMain(imu_pub);
-
-                Log.v("IMU publisher", ""+isChecked);
-            }
-        });
-
-        gpsSwitch.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
-            @Override
-            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
-
-                if(isChecked)
-                    nodeMainExecutor.execute(fix_pub, nodeConfigurationGPS);
-
-                else
-                    nodeMainExecutor.shutdownNodeMain(fix_pub);
-
-                Log.v("IMU publisher", ""+isChecked);
-            }
-        });
-
-        cameraSwitch.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
-            @Override
-            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
-
-                if(isChecked) {
-                    rosCameraPreviewView.setCamera(getCamera());
-                    nodeMainExecutor.execute(rosCameraPreviewView, nodeConfigurationCamera);
-                    cameraRunning = true;
-                }
-                else {
-                    nodeMainExecutor.shutdownNodeMain(rosCameraPreviewView);
-                    cameraRunning = false;
-                }
-                Log.v("IMU publisher", ""+isChecked);
-            }
-        });
     }
 
-    public void onSwitchCameraButtonClicked(View view) {
+    @Override
-
+    public boolean onTouchEvent(MotionEvent event) {
-        final Toast toast;
+        //if (Build.VERSION.SDK_INT < Build.VERSION_CODES.P) {
-                if(!cameraRunning)
+            if (event.getAction() == MotionEvent.ACTION_UP) {
-                {
+                int numberOfCameras = Camera.getNumberOfCameras();
-                    toast = Toast.makeText(this, "Camera Publisher not running", Toast.LENGTH_SHORT);
+                final Toast toast;
-                }
+                if (numberOfCameras > 1) {
-    else {
+                    cameraId = (cameraId + 1) % numberOfCameras;
-                    int numberOfCameras = Camera.getNumberOfCameras();
+                    rosCameraPreviewView.releaseCamera();
-
+                    rosCameraPreviewView.setCamera(getCamera());
-                    if (numberOfCameras > 1) {
+                    toast = Toast.makeText(this, "Switching cameras.", Toast.LENGTH_SHORT);
-                        cameraId = (cameraId + 1) % numberOfCameras;
+                } else {
-                        rosCameraPreviewView.releaseCamera();
+                    toast = Toast.makeText(this, "No alternative cameras to switch to.", Toast.LENGTH_SHORT);
-                        rosCameraPreviewView.setCamera(getCamera());
-                        toast = Toast.makeText(this, "Switching cameras.", Toast.LENGTH_SHORT);
-                    } else {
-                        toast = Toast.makeText(this, "No alternative cameras to switch to.", Toast.LENGTH_SHORT);
-                    }
                 }
                 runOnUiThread(new Runnable() {
                     @Override
@@ -156,15 +89,13 @@ public class MainActivity extends RosActivity {
                         toast.show();
                     }
                 });
+            }
+        //}
+        return true;
     }
 
     @Override @TargetApi(Build.VERSION_CODES.ICE_CREAM_SANDWICH_MR1) //API = 15
     protected void init(NodeMainExecutor nodeMainExecutor) {
-        sID = MasterChooser.sID;
-        rosCameraPreviewView = new RosCameraPreviewView(sID);
-        mLocationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
-        mSensorManager = (SensorManager) this.getSystemService(SENSOR_SERVICE);
-
         this.nodeMainExecutor = nodeMainExecutor;
 
         if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
@@ -175,32 +106,40 @@ public class MainActivity extends RosActivity {
             PERMISSIONS[3] = Manifest.permission.WRITE_EXTERNAL_STORAGE;
             ActivityCompat.requestPermissions(this, PERMISSIONS, 0);
         }else {
-            initGPS();
+            NodeConfiguration nodeConfiguration1 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
-            initCamera();
+            nodeConfiguration1.setMasterUri(getMasterUri());
+            nodeConfiguration1.setNodeName("android_sensors_driver_nav_sat_fix");
+            this.fix_pub = new NavSatFixPublisher(mLocationManager);
+            nodeMainExecutor.execute(this.fix_pub, nodeConfiguration1);
+
+            rosCameraPreviewView.setCamera(getCamera());
+            NodeConfiguration nodeConfiguration2 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
+            nodeConfiguration2.setMasterUri(getMasterUri());
+            nodeConfiguration2.setNodeName("android_sensors_driver_camera");
+            nodeMainExecutor.execute(this.rosCameraPreviewView, nodeConfiguration2);
         }
-        initImu();
 
+        NodeConfiguration nodeConfiguration3 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
+        nodeConfiguration3.setMasterUri(getMasterUri());
+        nodeConfiguration3.setNodeName("android_sensors_driver_imu");
+        this.imu_pub = new ImuPublisher(mSensorManager);
+        nodeMainExecutor.execute(this.imu_pub, nodeConfiguration3);
     }
 
-    private void initGPS() {
+    private void executeGPS() {
-        this.fix_pub = new NavSatFixPublisher(mLocationManager, sID);
+        NodeConfiguration nodeConfiguration1 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
-        nodeConfigurationGPS = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
+        nodeConfiguration1.setMasterUri(getMasterUri());
-        nodeConfigurationGPS.setMasterUri(getMasterUri());
+        nodeConfiguration1.setNodeName("android_sensors_driver_nav_sat_fix");
-        nodeConfigurationGPS.setNodeName(fix_pub.getDefaultNodeName());
+        this.fix_pub = new NavSatFixPublisher(mLocationManager);
+        nodeMainExecutor.execute(this.fix_pub, nodeConfiguration1);
     }
 
-    private void initCamera() {
+    private void executeCamera() {
         rosCameraPreviewView.setCamera(getCamera());
-        nodeConfigurationCamera = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
+        NodeConfiguration nodeConfiguration2 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
-        nodeConfigurationCamera.setMasterUri(getMasterUri());
+        nodeConfiguration2.setMasterUri(getMasterUri());
-        nodeConfigurationCamera.setNodeName(rosCameraPreviewView.getDefaultNodeName());
+        nodeConfiguration2.setNodeName("android_sensors_driver_camera");
-    }
+        nodeMainExecutor.execute(this.rosCameraPreviewView, nodeConfiguration2);
-
-    private void initImu() {
-        nodeConfigurationImu = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
-        nodeConfigurationImu.setMasterUri(getMasterUri());
-        this.imu_pub = new ImuPublisher(mSensorManager, sID);
-        nodeConfigurationImu.setNodeName(imu_pub.getDefaultNodeName());
     }
 
     private Camera getCamera() {
@@ -208,10 +147,10 @@ public class MainActivity extends RosActivity {
         Camera.Parameters camParams = cam.getParameters();
         if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.ICE_CREAM_SANDWICH) {
             if (camParams.getSupportedFocusModes().contains(
-                    Camera.Parameters.FOCUS_MODE_INFINITY)) {
+                    Camera.Parameters.FOCUS_MODE_CONTINUOUS_VIDEO)) {
-                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_INFINITY);
+                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_CONTINUOUS_VIDEO);
             } else {
-                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_INFINITY);
+                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_CONTINUOUS_PICTURE);
             }
         }
         //cam.setParameters(camParams);
@@ -224,41 +163,17 @@ public class MainActivity extends RosActivity {
         if (requestCode == 0) {
             if (grantResults.length > 0 && grantResults[0] == PackageManager.PERMISSION_GRANTED) {
                 // permission was granted, yay! Do the
-                initGPS();
+                executeGPS();
             }
             if (grantResults.length > 1 && grantResults[1] == PackageManager.PERMISSION_GRANTED) {
                 // permission was granted, yay! Do the
-                initCamera();
+                executeCamera();
+            }
+
+            if (grantResults.length > 2 && grantResults[2] == PackageManager.PERMISSION_GRANTED &&
+                    grantResults[3] == PackageManager.PERMISSION_GRANTED) {
+                // permission was granted, yay! Do the
             }
         }
     }
-
-    public void onRadioButtonClicked(View view) {
-
-        boolean checked = ((RadioButton) view).isChecked();
-
-        switch(view.getId()) {
-
-            case R.id.res480:
-                if (checked)
-                    rosCameraPreviewView.setPreviewSize(640, 480);
-                    break;
-
-            case R.id.res720:
-                if (checked)
-                    rosCameraPreviewView.setPreviewSize(1280, 720);
-                break;
-
-            case R.id.res1080:
-                if (checked)
-                    rosCameraPreviewView.setPreviewSize(1920, 1080);
-                    break;
-        }
-
-        if(cameraRunning){
-            rosCameraPreviewView.releaseCamera();
-            rosCameraPreviewView.setCamera(getCamera());
-        }
-    }
-
 }

android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/NavSatFixPublisher.java

@@ -55,7 +55,6 @@ import org.ros.node.topic.Publisher;
 public class NavSatFixPublisher implements NodeMain {
 
     private NavSatThread navSatThread;
-    private static String sID;
     private LocationManager locationManager;
     private NavSatListener navSatFixListener;
     private Publisher<NavSatFix> publisher;
@@ -103,7 +102,7 @@ public class NavSatFixPublisher implements NodeMain {
             NavSatFix fix = this.publisher.newMessage();
             //fix.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));
             fix.getHeader().setStamp(connectedNode.getCurrentTime());
-            fix.getHeader().setFrameId("/android_"+sID+"_gps");
+            fix.getHeader().setFrameId("/gps");
 
             fix.getStatus().setStatus(currentStatus);
             fix.getStatus().setService(NavSatStatus.SERVICE_GPS);
@@ -143,16 +142,15 @@ public class NavSatFixPublisher implements NodeMain {
         }
     }
 
-    public NavSatFixPublisher(LocationManager manager, String nodeID) {
+    public NavSatFixPublisher(LocationManager manager) {
         this.locationManager = manager;
-        sID = nodeID;
     }
 
     //@Override
     public void onStart(ConnectedNode node) {
         try {
             this.connectedNode = node;
-            this.publisher = node.newPublisher("android_" + sID + "/fix", "sensor_msgs/NavSatFix");
+            this.publisher = node.newPublisher("android/fix", "sensor_msgs/NavSatFix");
             this.navSatFixListener = new NavSatListener(publisher);
             this.navSatThread = new NavSatThread(this.locationManager, this.navSatFixListener);
             this.navSatThread.start();
@@ -180,7 +178,7 @@ public class NavSatFixPublisher implements NodeMain {
     }
 
     public GraphName getDefaultNodeName() {
-        return GraphName.of("android_" + sID + "/imuPublisher");
+        return GraphName.of("android_sensors_driver/imuPublisher");
     }
 
     public void onError(Node node, Throwable throwable) {