只需要安装java8就可以,不需要自己再去下载gradle了,使用FAST-DDS-Gen中的gradlew就可以
sudo apt install openjdk-8-jdk
cd ~
git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git
cd Fast-DDS-Gen
./gradlew assemble
cd Fast-DDS-Gen/share/fastddsgen/java
java -jar fastddsgen.jar xxx.idl -d [path]
#example
java -jar /home/s/xxx/Fast-DDS-Gen/share/fastddsgen/java/fastddsgen.jar xxx.idl -d /home/s/xxx/dds_tutorial_complex/examples/01-hellofishros/src/idl_generate