In the previous test, we made the Android ROS application a ROS node; we can also configure it as a ROS master. Show the advanced option from the app and click on PUBLIC MASTER. Now the app itself act as the ROS master. You can connect from your PC to the Android device as a node.

For listing topics on the ROS PC, you have to set ROS_MASTER_URI inside the .bashrc file:

Here, I have defined ROS_MASTER_URI like this:

    $ export ROS_MASTER_URI=http://192.168.1.100:11311

The IP is the IP address of the Android device.