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I found this Asset Studio to generate icons. It works fine for the launcher icon but for action bar or notification icons it is not working. I put in my png file and want to generate the icons, but Asset Studio is only generating gray circles. Is there another tool to generate action bar and notification icons?
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Right click on app > Go to Image Assets > Choose icon type and other properties > Click next and finish. Here you can generate all icon shapes and replace with new easily. If you choose icon type as adaptive and legacy it will generate both square shaped and round shaped.
If you right click your res/drawable folder in Android Studio, then select New -> Image Asset , you will see the following wizard. This will let you easily create launcher icons that work in all shapes.
You can use a tool for creating generic icons in Asset Studio: https://romannurik.github.io/AndroidAssetStudio/icons-generic.html. To get it look like ActionBar Icon, you should make next actions:
The sizes of icons will be pretty the same as you can get them with ActionBar Icon Generator.
How it looks for me: 
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