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You should also check out GeoODK which is a ODK build with am mapping functions. www.geoodk.com
All you need to do is create a correct URL in your app and use Java to open the URL and fetch the contents as an image. The display the image as usual. To determine what URL you need you should read the WMS specification, or if you are in a hurry crib one from the GeoServer examples page or any other web map you can find.
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