Hi @mps2209!
You are in the right track. In rosjava kinetic, a ParameterLoaderNode was added to rosjava, which can read from yaml files and upload the contents to the parameter server.
I suggest you to take a look at tangobot repository; it uses the cross compiled navigation stack. You will probably find it useful.
Some places you should look at:
- Gradle buildscript
- Android.mk
- MainActivity --> usage of ParameterLoaderNode is there.
- Raw resources with the yaml files you need to configure the plugins.
Hope it helps!