The Android user interface is a toolkit that makes it straightforward to design Android interfaces for ROS enabled robot. Full details of the approach can be found in
Speers, A., Forooshani, P., Dicke, M. and Jenkin, M. Lightweight tablet devices for command and control of ROS-enabled robots. Proc. 2013 International Conference on Advanced Robotics (ICAR). Montevideo, Uruguay, 2013.
A video of an interface to the ROS “turtlesim” robot can be found here.