$ sudo apt-get update
$ sudo apt-get install antlr4-maven-plugin 

antlr4-maven-plugin is installed in your system.

Make ensure the antlr4-maven-plugin package were installed using the commands given below,

$ sudo dpkg-query -l | grep antlr4-maven-plugin *

You will get with antlr4-maven-plugin package name, version, architecture and description in a table

antlr4-maven-plugin package basic information: