One of the commonly used apps in this list is the Android teleop application. Using this app, you can control the ROS robot from your Android phone.
Like the previous app, the setup is the same, and using a virtual joystick in this app, we can control the movement and rotation of the robot. Here are the screenshots of the app:
Figure 32: Android teleop application
Here are the topics and output that we may get on the ROS PC or robot. You can see a bunch of topics, actually, which are useful for robot navigation. Now we only need the command velocity topic:
Figure 33: Android teleop application data