diff --git a/build.gradle b/build.gradle
index 90448575930f3d5d47595408a121d4db872bab4f..c5dde369abbcaf9c4a1076c14894935d1f75cfcc 100644
--- a/build.gradle
+++ b/build.gradle
@@ -14,6 +14,10 @@
  * the License.
  */
 
+task wrapper(type: Wrapper) {
+  gradleVersion = '1.7'
+}
+
 buildscript {
     def rosMavenPath = "$System.env.ROS_MAVEN_PATH".split(':').collect { 'file://' + it }
     repositories {
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index ce16961d3a715d4129c7a8fc022e26054a31b230..faa569a9a0eedc9ff37450fed24a7efd77a86729 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 0aafd50166ef5f625c050957437a570c403885f9..a4a11f780b4feac5c5e767423782a4d3a72274bf 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Mon Apr 29 15:11:16 CEST 2013
+#Mon Sep 16 09:49:12 KST 2013
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=http\://services.gradle.org/distributions/gradle-1.5-bin.zip
+distributionUrl=http\://services.gradle.org/distributions/gradle-1.7-bin.zip
diff --git a/gradlew b/gradlew
index ae91ed90299594a97017a568df226eccd106cdb5..91a7e269e19dfc62e27137a0b57ef3e430cee4fd 100755
--- a/gradlew
+++ b/gradlew
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 ##############################################################################
 ##
@@ -61,9 +61,9 @@ while [ -h "$PRG" ] ; do
     fi
 done
 SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/"
+cd "`dirname \"$PRG\"`/" >&-
 APP_HOME="`pwd -P`"
-cd "$SAVED"
+cd "$SAVED" >&-
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
@@ -101,13 +101,13 @@ if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then
             warn "Could not set maximum file descriptor limit: $MAX_FD"
         fi
     else
-        warn "Could not query businessSystem maximum file descriptor limit: $MAX_FD_LIMIT"
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
     fi
 fi
 
 # For Darwin, add options to specify how the application appears in the dock
 if $darwin; then
-    JAVA_OPTS="$JAVA_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
 fi
 
 # For Cygwin, switch paths to Windows format before running java