In Android Studio, use Image Asset to (re)create your icons. On Windows, ctrl+shift+A. On Mac, cmd+shift+A. When you are done, save and overwrite existing files. Then the problem will be fixed.
Most likely you'll provide your own icon and your background color (which will be just a resource in colors). Image Asset will created a set of new ic_launcher_foreground.png. You'll find two set of (now) unused resources: ic_launcher_background.xml (which gives the green background with grid) and ic_launcher_foreground.xml (which gives the Droid head). You can safely remove those files.
