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I use https://github.com/dariuszseweryn/RxAndroidBle which is very nice.
IMO look at some open source app that uses it, like https://github.com/ligi/BLExplorer. It's out of date, but can help you understand how to use it.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.