Update ANTLR version from 4.5.3 to 4.7.1 to match Spark 2.3

https://www.mail-archive.com/dev@systemml.apache.org/msg00573.html

We should upgrade the used ANTLR version to match the version included in Spark 2.3. However, we'll still pack the ANTLR runtime into our own jar to ensure compatibility with older jar versions.