For any ROS question, please refer to the official doc at http://wiki.ros.org .
First, install the teleop app on your Android after installing rosjava and android_apps at http://wiki.ros.org/rosjava (or ask Karsten for the .apk)
When starting your roscore and this naoqi driver, make sure you export your ROS_IP and ROS_MASTER_URI to your IP.
Then start motion on your robot:
$ qicli call ALMotion.wakeUp
$ qicli call ALRobotPosture.goToPosture Stand 1
You can now control your robot with the app.
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