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I think here is your answers.

You must set your variable as cached string like this:

set(ANTLR4_ROOT "/usr/local" CACHE STRING "ANTLR4_ROOT variable")

And then you make the project with:

catkin_make -DANTLR4_ROOT:STRING=$HOME/.local

I think here is your answers.answer.

You must set your variable as cached string like this:

set(ANTLR4_ROOT "/usr/local" CACHE STRING "ANTLR4_ROOT variable")

And then you make the project with:

catkin_make -DANTLR4_ROOT:STRING=$HOME/.local