Demo version of SiP domain (Android)

I use the demo http://developer.android.com/resources/samples/SipDemo/index.html and try to make a call through SiP, I have 2 Android devices with Wi-Fi connection, but here my problem is what is SiP domain? I read about it, but I did not understand - should I start the SiP server somewhere or what?

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Launch Asterisk on a Linux server and register both devices on it. Then you can call. You should also be able to call directly if you provide the username and other IP address of the phone as a domain, but you will have to change the demo version.

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