Build ROS 2 Java for Android failed

[xcpper]

Ubuntu 20.04.3 && ROS2 Galactic && openjdk8 && Android Studio

Following README.md 1: Download NDK(16.1.4479499) and set the environment variable ANDROID_NDK 2: Download SDK(API level 21) and set the environment variable ANDROID_HOME 3: Clone ROS 2 and ROS 2 Java for Android source code 4: Set Android build configuration 5: Build

But colcon build failed: ……/Android/Sdk/ndk/16.1.4479499/toolchains/arm-linux-androideabi-4.9/prebuilt/linux-x86_64/lib/gcc/arm-linux-androideabi/4.9.x/../../../../arm-linux-androideabi/bin/ld: error: cannot find -lc++_shared

[pengzhouhu]

@xcpper i have ever meet this problem, need more information of 4 step: Android build configuration

[xcpper]

@pengzhouhu I did not change any command in README.md

export PYTHON3_EXEC="$( which python3 )" export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )" export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )" export ANDROID_ABI=armeabi-v7a export ANDROID_NATIVE_API_LEVEL=android-21 export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang

[pengzhouhu]

@pengzhouhu I did not change any command in README.md

export PYTHON3_EXEC="$( which python3 )" export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )" export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )" export ANDROID_ABI=armeabi-v7a export ANDROID_NATIVE_API_LEVEL=android-21 export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang

i remember there is a so named "lib_c++_shared.so"? maybe you miss copy it where build the rclandroid.aar.