diff --git a/README.md b/README.md
index c571d2c0..fdee5112 100644
--- a/README.md
+++ b/README.md
@@ -37,6 +37,7 @@ This package is the **official build system for micro-ROS**. It provides tools a
 | [Mbed](https://os.mbed.com/)                                                                                        | [ST B-L475E-IOT01A](https://os.mbed.com/platforms/ST-Discovery-L475E-IOT01A/)                                                                                                            | v6.6                         | `mbed disco_l475vg_iot01a`   |
 | -                                                                                                                   | Static library (.a) and headers (.h) <sup>3</sup>                                                                                                                                        | -                            | `generate_lib`               |
 | Linux                                                                                                               | *Host <sup>2</sup>*                                                                                                                                                                      | Ubuntu 18.04/20.04           | `host`                       |
+| Android                                                                                                             | [AOSP](https://source.android.com) <sup>4</sup>                                                                                                                                          | Latest                       | `android generic`            |
 
 *<sup>1</sup> Community supported, may have lack of official support*
 
@@ -44,6 +45,8 @@ This package is the **official build system for micro-ROS**. It provides tools a
 
 *<sup>3</sup> a valid CMake toolchain with custom crosscompilation definition is required*
 
+*<sup>4</sup> Community supported, may have lack of official support*
+
 ## Standalone build system tools
 
 micro-ROS also offers some other ways to crosscompile it for different platforms. These other options are secondary tools and may not have full support for all features. Currently micro-ROS is also available as:
@@ -75,6 +78,12 @@ Some other prerequisites needed for building a firmware using this package are:
 ```
 sudo apt install python3-rosdep
 ```
+
+Building for Android needs [Latest Android NDK](https://developer.android.com/ndk/downloads) to be installed and the following environment variables to be set:
+- ```ANDROID_ABI```: CPU variant, refer [here](https://developer.android.com/ndk/guides/abis) for details.
+- ```ANDROID_NATIVE_API_LEVEL```: Android platform version, refer [here](https://developer.android.com/ndk/guides/cmake#android_native_api_level) for details.
+- ```ANDROID_NDK```: root path of the installed NDK.
+
 # Quick start
 
 Download [here](https://www.eprosima.com/index.php/downloads-all) the micro-ROS docker image that contains a pre-installed client and agent as well as some compiled examples.
diff --git a/config/android/dev_ros2_packages.txt b/config/android/dev_ros2_packages.txt
new file mode 100644
index 00000000..c04d6a17
--- /dev/null
+++ b/config/android/dev_ros2_packages.txt
@@ -0,0 +1,9 @@
+keep:
+  ament/ament_cmake
+  ament/ament_index
+  ament/ament_lint
+  ament/ament_package
+  ament/googletest
+  ament/osrf_pycommon
+  ament/uncrustify_vendor
+  ros2/ament_cmake_ros
diff --git a/config/android/dev_uros_packages.repos b/config/android/dev_uros_packages.repos
new file mode 100644
index 00000000..56f46b6f
--- /dev/null
+++ b/config/android/dev_uros_packages.repos
@@ -0,0 +1 @@
+repositories:
diff --git a/config/android/generic/build.sh b/config/android/generic/build.sh
new file mode 100755
index 00000000..57941308
--- /dev/null
+++ b/config/android/generic/build.sh
@@ -0,0 +1,61 @@
+. $PREFIX/config/utils.sh
+
+if [ $# -ge 1 ]; then
+    TOOLCHAIN=$1
+else
+    echo "Syntax: ros2 run micro_ros_setup build_firmware.sh <CMake toolchain file> [Colcon meta file]"
+    exit 1
+fi
+
+if [ $# -ge 2 ]; then
+    COLCON_META=$2
+	  echo "Using provided meta: $COLCON_META"
+
+else
+    COLCON_META=$FW_TARGETDIR/mcu_ws/colcon.meta
+	  echo "Using default meta: $COLCON_META"
+fi
+
+
+BUILD_DIR=$FW_TARGETDIR/build
+
+pushd $FW_TARGETDIR/mcu_ws >/dev/null
+
+# Set these variables according to your own environment.
+if [ -z ${ANDROID_ABI+x} ]; then
+    ANDROID_ABI=arm64-v8a
+fi
+if [ -z ${ANDROID_NATIVE_API_LEVEL+x} ]; then
+    ANDROID_NATIVE_API_LEVEL=android-30
+fi
+if [ -z ${ANDROID_NDK+x} ]; then
+    ANDROID_NDK=~/android-ndk-r23
+fi
+
+# rm -rf build install log
+
+colcon build --packages-up-to micro_ros_demos_rclc \
+    --merge-install \
+    --packages-ignore-regex=.*_cpp \
+    --metas $COLCON_META \
+    --cmake-args \
+    "--no-warn-unused-cli" \
+    -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
+    -DBUILD_SHARED_LIBS=ON \
+    -DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \
+    -DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE=BOTH \
+    -DANDROID_FUNCTION_LEVEL_LINKING=OFF \
+    -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
+    -DANDROID_STL=c++_shared \
+    -DANDROID_ABI=${ANDROID_ABI} \
+    -DANDROID_NDK=${ANDROID_NDK} \
+    -DANDROID=ON \
+    -DTHIRDPARTY=ON \
+    -DBUILD_TESTING=OFF \
+    -DBUILD_MEMORY_TOOLS=OFF \
+    -DBUILD_MEMORY_TESTS=OFF \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON
+
+popd >/dev/null
+
diff --git a/config/android/generic/client-colcon.meta b/config/android/generic/client-colcon.meta
new file mode 100644
index 00000000..50a94a56
--- /dev/null
+++ b/config/android/generic/client-colcon.meta
@@ -0,0 +1,49 @@
+{
+    "names":{
+        "microxrcedds_client":{
+            "cmake-args":[
+                "-DBUILD_SHARED_LIBS=ON",
+                "-DUCLIENT_PROFILE_MULTITHREAD=ON"
+            ]
+        },
+        "microcdr":{
+            "cmake-args":[
+                "-DBUILD_SHARED_LIBS=ON"
+            ]
+        },
+        "rosidl_typesupport_microxrcedds_c":{
+            "cmake-args":[
+                "-DBUILD_SHARED_LIBS=ON"
+            ]
+        },
+        "rosidl_typesupport_microxrcedds_cpp":{
+            "cmake-args":[
+                "-DBUILD_SHARED_LIBS=ON"
+            ]
+        },
+        "rclc_parameter":{
+            "cmake-args":[
+                "-DBUILD_SHARED_LIBS=ON"
+            ]
+        },
+        "rcutils":{
+            "cmake-args":[
+                "-DENABLE_TESTING=OFF"
+            ]
+        },
+        "rmw_microxrcedds":{
+            "cmake-args":[
+                "-DRMW_UXRCE_TRANSPORT=udp",
+                "-DRMW_UXRCE_DEFAULT_UDP_IP=127.0.0.1",
+                "-DRMW_UXRCE_DEFAULT_UDP_PORT=8888",
+                "-DRMW_UXRCE_MAX_NODES=15",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=15",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=15",
+                "-DRMW_UXRCE_MAX_SERVICES=15",
+                "-DRMW_UXRCE_MAX_CLIENTS=15",
+                "-DRMW_UXRCE_STREAM_HISTORY=32",
+                "-DRMW_UXRCE_MAX_HISTORY=10"
+            ]
+        }
+    }
+}
diff --git a/config/android/generic/client_uros_packages.repos b/config/android/generic/client_uros_packages.repos
new file mode 100644
index 00000000..2be1f888
--- /dev/null
+++ b/config/android/generic/client_uros_packages.repos
@@ -0,0 +1,52 @@
+repositories:
+  eProsima/Micro-CDR:
+    type: git
+    url: https://github.com/eProsima/Micro-CDR.git
+    version: foxy
+  eProsima/Micro-XRCE-DDS-Client:
+    type: git
+    url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+    version: foxy
+
+# MicroROS
+  uros/rcl:
+    type: git
+    url: https://github.com/micro-ROS/rcl
+    version: galactic
+  uros/rclc:
+    type: git
+    url: https://github.com/ros2/rclc
+    version: galactic
+  uros/micro_ros_utilities:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_utilities
+    version: main
+    version: galactic
+  uros/rcutils:
+    type: git
+    url: https://github.com/micro-ROS/rcutils
+    version: galactic
+  uros/micro_ros_msgs:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_msgs.git
+    version: galactic
+  uros/rmw_microxrcedds:
+    type: git
+    url: https://github.com/micro-ROS/rmw-microxrcedds.git
+    version: galactic
+  uros/rosidl_typesupport:
+    type: git
+    url: https://github.com/micro-ROS/rosidl_typesupport.git
+    version: galactic
+  uros/rosidl_typesupport_microxrcedds:
+    type: git
+    url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
+    version: galactic
+  uros/tracetools:
+    type: git
+    url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/
+    version: galactic
+  uros/micro-ROS-demos:
+    type: git
+    url: https://github.com/micro-ROS/micro-ROS-demos.git
+    version: galactic
diff --git a/config/android/generic/create.sh b/config/android/generic/create.sh
new file mode 100755
index 00000000..a94d7a67
--- /dev/null
+++ b/config/android/generic/create.sh
@@ -0,0 +1,11 @@
+pushd $FW_TARGETDIR >/dev/null
+
+    # ignore broken packages
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
+    touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
+    touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
+
+popd >/dev/null
diff --git a/config/android/generic/flash.sh b/config/android/generic/flash.sh
new file mode 100755
index 00000000..5cfcdf5b
--- /dev/null
+++ b/config/android/generic/flash.sh
@@ -0,0 +1,2 @@
+echo "No flash step"
+echo "Please find library and includes inside firmware/build folder"
\ No newline at end of file
diff --git a/config/android/generic/package.xml b/config/android/generic/package.xml
new file mode 100644
index 00000000..2e8fc221
--- /dev/null
+++ b/config/android/generic/package.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>firmware</name>
+  <version>0.0.0</version>
+  <description>Micro-ROS dependecies for Android</description>
+  <maintainer email="joel.cao@oppo.com">Joel Cao</maintainer>
+  <license>APL2</license>
+
+  <build_depend>gperf</build_depend>
+  <build_depend>wget</build_depend>
+</package>