diff --git a/src/rosjava_build_tools/gradle/Readme.md b/src/rosjava_build_tools/gradle/Readme.md
index e82053520b84213ed6e2a32c03f20947dc3a2004..8a31a6cf3a94d83221c10e9d211610d283e1f29e 100644
--- a/src/rosjava_build_tools/gradle/Readme.md
+++ b/src/rosjava_build_tools/gradle/Readme.md
@@ -1,3 +1,3 @@
 This is not installed, but it gets used to generate the gradle wrapper for a project.
 
-It is currently the gradle wrapper supporting gradle 3.5.1
+It is currently the gradle wrapper supporting gradle 4.10.2.
diff --git a/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.jar b/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.jar
index 72eace8d2cd26647484a02ff636d0291f22eee41..29953ea141f55e3b8fc691d31b5ca8816d89fa87 100644
Binary files a/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.jar and b/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.properties b/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.properties
index 7004efb677f15e4d7cfc17e6d186138df3f022a6..e0b3fb8d70b1bbf790f6f8ed1c928ddf09f54628 100644
--- a/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.properties
+++ b/src/rosjava_build_tools/gradle/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,5 @@
-#Fri Jan 26 13:47:21 ART 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.10.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.5.1-bin.zip
diff --git a/src/rosjava_build_tools/gradle/gradlew b/src/rosjava_build_tools/gradle/gradlew
index 91a7e269e19dfc62e27137a0b57ef3e430cee4fd..cccdd3d517fc5249beaefa600691cf150f2fa3e6 100755
--- a/src/rosjava_build_tools/gradle/gradlew
+++ b/src/rosjava_build_tools/gradle/gradlew
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/usr/bin/env sh
 
 ##############################################################################
 ##
@@ -6,20 +6,38 @@
 ##
 ##############################################################################
 
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
 
 APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
 
-warn ( ) {
+warn () {
     echo "$*"
 }
 
-die ( ) {
+die () {
     echo
     echo "$*"
     echo
@@ -30,6 +48,7 @@ die ( ) {
 cygwin=false
 msys=false
 darwin=false
+nonstop=false
 case "`uname`" in
   CYGWIN* )
     cygwin=true
@@ -40,31 +59,11 @@ case "`uname`" in
   MINGW* )
     msys=true
     ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
 esac
 
-# For Cygwin, ensure paths are in UNIX format before anything is touched.
-if $cygwin ; then
-    [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
-fi
-
-# Attempt to set APP_HOME
-# Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
-done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >&-
-APP_HOME="`pwd -P`"
-cd "$SAVED" >&-
-
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
 # Determine the Java command to use to start the JVM.
@@ -90,7 +89,7 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
     MAX_FD_LIMIT=`ulimit -H -n`
     if [ $? -eq 0 ] ; then
         if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
@@ -114,6 +113,7 @@ fi
 if $cygwin ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
 
     # We build the pattern for arguments to be converted via cygpath
     ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
@@ -154,11 +154,19 @@ if $cygwin ; then
     esac
 fi
 
-# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
-function splitJvmOpts() {
-    JVM_OPTS=("$@")
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
 }
-eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
-JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
 
-exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"
+exec "$JAVACMD" "$@"
diff --git a/src/rosjava_build_tools/templates/android_package/build.gradle.in b/src/rosjava_build_tools/templates/android_package/build.gradle.in
index 4b7ef0f70b958132ed3b430282e285c3fa91b682..4a387487486729b609774df4c987ea855d34a8e0 100644
--- a/src/rosjava_build_tools/templates/android_package/build.gradle.in
+++ b/src/rosjava_build_tools/templates/android_package/build.gradle.in
@@ -15,7 +15,7 @@
  */
 
 task wrapper(type: Wrapper) {
-    gradleVersion = '3.5.1'
+    gradleVersion = '4.10.2'
 }
 
 buildscript {
diff --git a/src/rosjava_build_tools/templates/rosjava_package/build.gradle.in b/src/rosjava_build_tools/templates/rosjava_package/build.gradle.in
index 37837c5c3cad1ec9e6b4ce1cea1da4e4fb281f58..e362baac00c84bcc21b8a4161697df3e789ea3f8 100644
--- a/src/rosjava_build_tools/templates/rosjava_package/build.gradle.in
+++ b/src/rosjava_build_tools/templates/rosjava_package/build.gradle.in
@@ -15,7 +15,7 @@
  */
 
 task wrapper(type: Wrapper) {
-    gradleVersion = '3.5.1'
+    gradleVersion = '4.10.2'
 }
 
 buildscript {