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I've solved this problem. If you want to define an external jar file located on your own system within gradle, it's as simple as adding:

compile files('libs/d.jar')

to the dependencies. So your dependencies look something like:

dependencies { compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT' compile files('libs/d.jar') }

An entire week on that tiny bit. At least I understand gradle dependencies quite well now.

Cheers, JAmes