This final thesis explains the process of creating an Android application which is used to control the robotic arm Jaco by Kinova company, robot generation 2. It explains how application is connected to ROS on computer which has ROS nodes for arm teleoperation and at the end the final results of arm controlling in Gazebo simulation environment are shown. Through chapters all the important terms that were used in this final thesis are explained. That includes explanation of all virtual and simulation environments such as Android Studio and Gazebo, all operating and meta-operating systems like Android and ROS. Also this project gives a closer look at the Kinova company work, whose robotic arm is used in this project. Also it gives a closer look at Jaco robotic arm itself. In the main part of the project, application's functionalities were explained as well as the application development process. Going through the user interface of application, a visual overview of how application looks like is given. The way how connection between application and ROS is done and the way how they communicate with each other which enables the teleoperation of robotic arm itself is explained. In the end, a detailed presentation of results is given through images from Gazebo simulation environment that visually show the functionalities that the developed application provides.