[Java for Android App Development] qbait:
Yes, you have to extend DrawerLayout and override some methods because MIN_DRAWER_MARGIN is private

public class FullDrawerLayout extends DrawerLayout {

private static final int MIN_DRAWER_MARGIN = 0; // dp

public FullDrawerLayout(Context context) {
super(context);
}

public FullDrawerLayout(Context context, AttributeSet attrs) {
super(context, attrs);
}

public FullDrawerLayout(Context context, AttributeSet attrs, int defStyle) {
super(context, attrs, defStyle);
}

@Override
protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
final int widthMode = MeasureSpec.getMode(widthMeasureSpec);
final int heightMode = MeasureSpec.getMode(heightMeasureSpec);
final int widthSize = MeasureSpec.getSize(widthMeasureSpec);
final int heightSize = MeasureSpec.getSize(heightMeasureSpec);

if (widthMode != MeasureSpec.EXACTLY || heightMode != MeasureSpec.EXACTLY) {
throw new IllegalArgumentException(
"DrawerLayout must be measured with MeasureSpec.EXACTLY.");
}

setMeasuredDimension(widthSize, heightSize);

// Gravity value for each drawer we've seen. Only one of each permitted.
int foundDrawers = 0;
final int childCount = getChildCount();
for (int i = 0; i < childCount; i++) {
final View child = getChildAt(i);

if (child.getVisibility() == GONE) {
continue;
}

final LayoutParams lp = (LayoutParams) child.getLayoutParams();

if (isContentView(child)) {
// Content views get measured at exactly the layout's size.
final int contentWidthSpec = MeasureSpec.makeMeasureSpec(
widthSize - lp.leftMargin - lp.rightMargin, MeasureSpec.EXACTLY);
final int contentHeightSpec = MeasureSpec.makeMeasureSpec(
heightSize - lp.topMargin - lp.bottomMargin, MeasureSpec.EXACTLY);
child.measure(contentWidthSpec, contentHeightSpec);
} else if (isDrawerView(child)) {
final int childGravity =
getDrawerViewGravity(child) & Gravity.HORIZONTAL_GRAVITY_MASK;
if ((foundDrawers & childGravity) != 0) {
throw new IllegalStateException("Child drawer has absolute gravity " +
gravityToString(childGravity) + " but this already has a " +
"drawer view along that edge");
}
final int drawerWidthSpec = getChildMeasureSpec(widthMeasureSpec,
MIN_DRAWER_MARGIN + lp.leftMargin + lp.rightMargin,
lp.width);
final int drawerHeightSpec = getChildMeasureSpec(heightMeasureSpec,
lp.topMargin + lp.bottomMargin,
lp.height);
child.measure(drawerWidthSpec, drawerHeightSpec);
} else {
throw new IllegalStateException("Child " + child + " at index " + i +
" does not have a valid layout_gravity - must be Gravity.LEFT, " +
"Gravity.RIGHT or Gravity.NO_GRAVITY");
}
}
}

boolean isContentView(View child) {
return ((LayoutParams) child.getLayoutParams()).gravity == Gravity.NO_GRAVITY;
}

boolean isDrawerView(View child) {
final int gravity = ((LayoutParams) child.getLayoutParams()).gravity;
final int absGravity = Gravity.getAbsoluteGravity(gravity,
child.getLayoutDirection());
return (absGravity & (Gravity.LEFT | Gravity.RIGHT)) != 0;
}

int getDrawerViewGravity(View drawerView) {
final int gravity = ((LayoutParams) drawerView.getLayoutParams()).gravity;
return Gravity.getAbsoluteGravity(gravity, drawerView.getLayoutDirection());
}

static String gravityToString(int gravity) {
if ((gravity & Gravity.LEFT) == Gravity.LEFT) {
return "LEFT";
}
if ((gravity & Gravity.RIGHT) == Gravity.RIGHT) {
return "RIGHT";
}
return Integer.toHexString(gravity);
}

}