There is already a good SO question for displaying a Google+ Page in the Google+ Android app:
Open Google Plus Page Via Intent In Android
But what about the Intent to launch the Google+ app at a specific Google+ Community?
EDIT - to the silent down-voters, please explain why you down-voted.
My solution, working with G+ version "5.3.0.91034052", tested today
final Intent intent = new Intent( Intent.ACTION_VIEW, Uri.parse( "https://plus.google.com/communities/107847486351510098159" ) );
intent.setPackage( "com.google.android.apps.plus" );
if (intent.resolveActivity(getPackageManager()) != null) {
startActivity( intent );
}
It's not bullet proof, you need Google+ app on your device, in case you don't have it some kind of try-catch might be nice (?),
I achieved this by using:
String communityPage = "communities/123456789";
try {
Intent intent = new Intent(Intent.ACTION_VIEW);
intent.setClassName("com.google.android.apps.plus",
"com.google.android.apps.plus.phone.UrlGatewayActivity");
intent.putExtra("customAppUri", communityPage);
startActivity(intent);
} catch(ActivityNotFoundException e) {
// fallback if G+ app is not installed
startActivity(new Intent(Intent.ACTION_VIEW, Uri.parse("https://plus.google.com/"+communityPage)));
}
Where 123456789 is the id of the community copied from the address bar.
Just in case anyone else needs to do this I had to do this in my app and used the below code
startActivity(new Intent(Intent.ACTION_VIEW, Uri.parse("https://plus.google.com/communities/1234356789")));
Where 1234356789 is the community id from the address bar.
This then prompts whether you want to open with Google+ or browser.