leJOS NXJ is one of the most complete development and runtime environments for advanced NXT robotic programs out there and is used not only by many NXT aficionados but also by a lot of schools and universities for teaching robotics and programming. In case you are into Object-Orientated Programming also for your NXT, it might be the platform of choice for you.
The new release includes
"preliminary Android OS support, a new icon-based menu system, updating the Java language to support such things as generics, and nanosecond support [..,] many new classes to support new sensors, as well as reworking the navigation API to accomodate different robot types, object detection, and path finding."Have a look at the web site. leJOS NXJ is Open Source and can be downloaded and used for free.
Addendum: There's also a new version 0.9.0 of the leJOS NXJ plug-in for Eclipse available. For details, see here.