diff --git a/cmake/rosjava.cmake.em b/cmake/rosjava.cmake.em
index 87cf7cd..2a90eda 100644
--- a/cmake/rosjava.cmake.em
+++ b/cmake/rosjava.cmake.em
@@ -86,8 +86,8 @@ macro(catkin_rosjava_setup)
     ###################################
     add_custom_target(gradle-${PROJECT_NAME} ALL
         #COMMAND ${ROSJAVA_ENV} ${CATKIN_ENV} "env" "|" "grep" "ROS" 
-        COMMAND ${ROSJAVA_ENV} ${CATKIN_ENV} ${${PROJECT_NAME}_gradle_BINARY} ${gradle_options} ${gradle_tasks}
-        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        COMMAND ${ROSJAVA_ENV} ${CATKIN_ENV} ${${PROJECT_NAME}_gradle_BINARY} ${gradle_options} --project-dir ${CMAKE_CURRENT_SOURCE_DIR}  --project-cache-dir ${PROJECT_BINARY_DIR}/.gradle -PbuildDir=${PROJECT_BINARY_DIR} ${gradle_tasks}
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
         VERBATIM
         COMMENT "Gradling tasks for ${PROJECT_NAME}"
     )
@@ -110,7 +110,7 @@ macro(catkin_rosjava_setup)
     endif()
     add_custom_target(gradle-clean-${PROJECT_NAME}
         COMMAND ${CATKIN_ENV} ${${PROJECT_NAME}_gradle_BINARY} clean
-        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
         COMMENT "Cleaning gradle project for ${PROJECT_NAME}"
     )
     add_dependencies(gradle-clean gradle-clean-${PROJECT_NAME})
@@ -132,8 +132,8 @@ macro(catkin_android_setup)
     endif()
     add_custom_target(gradle-${PROJECT_NAME}
         ALL
-        COMMAND ${ROSJAVA_ENV} ${CATKIN_ENV} ${${PROJECT_NAME}_gradle_BINARY} ${gradle_tasks}
-        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        COMMAND ${ROSJAVA_ENV} ${CATKIN_ENV} ${${PROJECT_NAME}_gradle_BINARY} --project-dir ${CMAKE_CURRENT_SOURCE_DIR} --project-cache-dir ${PROJECT_BINARY_DIR}/.gradle -PbuildDir=${PROJECT_BINARY_DIR} ${gradle_tasks}
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
         VERBATIM
     )
     catkin_package_xml()
@@ -148,7 +148,7 @@ macro(catkin_android_setup)
     endif()
     add_custom_target(gradle-clean-${PROJECT_NAME}
         COMMAND ${CATKIN_ENV} ${${PROJECT_NAME}_gradle_BINARY} clean
-        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
     )
     add_dependencies(gradle-clean gradle-clean-${PROJECT_NAME})
 endmacro()