In this study, a mobile device with Android operating system was used to control a six-wheel differential drive mobile robot. In the literature, it is seen that there is no open source and comprehensive study in this matter, so that this study aimed to give a sample work for future applications. The Robot Operating System (ROS) framework has been established on the mobile robot and the operations have been implemented on the ROS, while on the Android device, the improvements have been made using the ROS libraries. While the camera image and the calculated map information from the mobile robot are transferred to the Android device via the ROS, vice versa the data that controls the robot actions are transferred. The Ubuntu operating system on the Raspberry Pi 2 microcontroller used on the mobile robot was used with the Indigo version of the ROS. In addition, on the Android device, using the accelerometers and touch tones, the control of the robot has been provided in 2 different ways. Thus, it is aimed to ensure mobile robot control effectively in teleoperation mode.