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Make sure you are in a properly installed ROS Workspace.
Then, to get ROS Java:
rosws set --git --version=groovy-devel rosjava_core 'git://github.com/rosjava/rosjava_core.git'
remember to run 'rosws update rosjava_core' to update the folder from git
Explicitly specify rosjava_core - I kept forgetting this, and it was the source of the problem you're having above.