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Dependencies go in the sub-project build.gradle files.

Dependencies for fellow sub-projects have the format (note you don't need any version specification):

dependencies { compile project(':fellow_sub_project_name') }

Dependencies for artifacts (jars) that are outside your gradle super project (typically repo) have the format:

dependencies { compile 'org.ros.rosjava_messages:rosjava_test_msgs:[0.1,0.2)' }

The uniquely qualified name here (org.ros.rosjava_messages) is the directory the artifact can be found. The name (rosjava_test_msgs) is the jar name. The [) brackets tell it to pick up the latest release in that range (e.g. 0.1.6).

Artifacts can usually be found either in /opt/ros/hydro/share/maven or at https://github.com/rosjava/rosjava_mvn_repo.