diff --git a/cmake/rosjava.cmake.em b/cmake/rosjava.cmake.em
index b59faf5c6f360c8a449340c2e433b9a6478835a7..7d44e7dfe5e24a962e3bcd047cb14195d06b0c04 100644
--- a/cmake/rosjava.cmake.em
+++ b/cmake/rosjava.cmake.em
@@ -77,7 +77,7 @@ macro(catkin_rosjava_setup)
       set(gradle_tasks ${ARGV})
     endif()
     if(ROS_GRADLE_VERBOSE)
-       set(gradle_options "")
+       set(gradle_options "--debug")
     else()
        set(gradle_options "-q")
     endif()
diff --git a/src/rosjava_build_tools/create_rosjava_project.py b/src/rosjava_build_tools/create_rosjava_project.py
index 62136c2895185dfe56b3f87ba336b83d04ec0e0a..25e1b2122c3bca908640f117263d519837e4af16 100644
--- a/src/rosjava_build_tools/create_rosjava_project.py
+++ b/src/rosjava_build_tools/create_rosjava_project.py
@@ -175,8 +175,8 @@ def add_tasks_to_cmake_setup(tasks):
         gradle_tasks = set([])
         if rosjava_setup_string.find("publish") == -1:
             gradle_tasks.add("publish")
-        if rosjava_setup_string.find("installApp") == -1:
-            gradle_tasks.add("installApp")
+        if rosjava_setup_string.find("install") == -1:
+            gradle_tasks.add("install")
         gradle_tasks |= set(tasks)
         console.pretty_print('  File      : ', console.cyan)
         console.pretty_println('CMakeLists.txt (gradle task update)', console.yellow)
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 cf103629f9a7618b4098808263a6e75cef8b6393..f71843a779ce55bf77d3bb02295a2553bd17494c 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 = '2.14.1'
+    gradleVersion = '4.6'
 }
 
 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 2de70bd69c71ee782d244c3351f604c07ae9dff2..f8269b755874bb32b62ae8a6a885cc6aac0540b3 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 = '2.14.1'
+    gradleVersion = '4.6'
 }
 
 buildscript {