I have followed the steps from this page: http://developer.samsung.com/gear/develop/creating-your-first-app/native-companion/gear-emulator, downloaded apk from the provided link and when launched on Android 6 got following exception:

01-25 14:10:50.752 7843-7860/? E/AndroidRuntime: FATAL EXCEPTION: SAP_DAEMON_HANDLER_THREAD

                                                 Process: com.samsung.accessory.framework, PID: 7843
                                                 java.lang.ArrayIndexOutOfBoundsException: Failed to update offset while sending the message! [offset=0; size=2]
                                                     at com.samsung.accessory.session.SAMessage.decrementOffset(SAMessage.java:359)
                                                     at com.samsung.accessory.connectivity.SAConnection.updateConnectivityData(SAConnection.java:131)
                                                     at com.samsung.accessory.connectivity.ip.SAWifiConnection.writeProtocolFrame(SAWifiConnection.java:385)
                                                     at com.samsung.accessory.connectivity.ip.SAWifiConnection.access$3000(SAWifiConnection.java:44)
                                                     at com.samsung.accessory.connectivity.ip.SAWifiConnection$FrameDispatchTask.run(SAWifiConnection.java:352)
                                                     at android.os.Handler.handleCallback(Handler.java:739)
                                                     at android.os.Handler.dispatchMessage(Handler.java:95)
                                                     at android.os.Looper.loop(Looper.java:148)
                                                     at android.os.HandlerThread.run(HandlerThread.java:61)

Samsung developers, would you be so kind and fix it? If you cannot, please make it open source and I believe there are plenty of developers including myself  who can fix it when they need it.