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I think I understand what you try to do, but I feel it contradicts the design principles behind ROS. Ideally, you would launch a bunch of nodes using a roslaunch script or something similar. Your GUI would be better focused if it interacted with said nodes through their topics. The current rosjava uses a script that executes the org.ros.RosRun class with your node class as an argument. If you really wanted to integrate a GUI + node launching, maybe you could add every JAR file generated by gradle as a dependency to your project... But since the API and almost everything in rosjava is still volatile it may be harmful to hardcode things that way.