MainActivity.java

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package org.ros.android.android_image_view;

import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.os.Bundle;
import android.view.Display;
import android.view.WindowManager;

import org.ros.address.InetAddressFactory;
import org.ros.android.RosActivity;
import org.ros.android.android_image_view.R;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;

public class MainActivity extends RosActivity {

        private CompressedImageView image;
        private TouchEventTalker talker;
        public static float width = 480, height = 640;

        public MainActivity() {
                super("ROS Image Viewer", "ROS Image Viewer");
        }

//      @SuppressWarnings("unchecked")
        @Override
        public void onCreate(Bundle savedInstanceState) {
                super.onCreate(savedInstanceState);

                talker = new TouchEventTalker();

                WindowManager wm = (WindowManager) getSystemService(WINDOW_SERVICE);
                Display disp = wm.getDefaultDisplay();
                width = disp.getWidth();
                height = disp.getHeight();

                setContentView(R.layout.main);
                image = (CompressedImageView) findViewById(R.id.image);
                image.setTopicName("/usb_cam/image_raw/compressed");
                image.setMessageType(sensor_msgs.CompressedImage._TYPE);
                image.setTalker(talker) ;
        }

        @Override
        public void onResume() {
                super.onResume();
                Bitmap bmp = BitmapFactory.decodeResource(this.getResources(),
                                R.drawable.icon);
                this.image.setBitmap(bmp);
        }

        @Override
        protected void init(NodeMainExecutor nodeMainExecutor) {
                NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(
                                InetAddressFactory.newNonLoopback().getHostAddress(),
                                getMasterUri());
                nodeMainExecutor.execute(image, nodeConfiguration);
                nodeMainExecutor.execute(talker, nodeConfiguration);
        }

}