Works for me on Android, both on a Nexus 4 and a BlackBerry Z10's Android player running Aldiko.
With a Nexus 4 I do this:
1) Open Dropbox app
2) Navigate folders to find the book I want
3) Tap on the book I want.
I see a scrolling bar in a popup window as it downloads. Then another popup window saying "Adding to bookshelf".
The the book opens in Aldiko.
4) I read to my hearts content.
On BlackBerry it is essentially the same, except that I use the built in Dropbox integration instead of a Dropbox app.
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