Currently the pom.xml file in TestRigVerify has an invalid parent reference. To fix this update the parent artifactId from testrig-parent to testrig-coordinator.
Use this command to build the TestRig, but be sure to include the correct path to your local install of the Android SDK.
$ mvn -Dandroid.sdk.path=path/to/Android/SDK/root android:deploy -Dmaven.test.skip=true -DtestDir=TestRigVerify clean install