Thank you @dtonhofer and @parrt I was able to make it work using the grammars from

https://github.com/antlr/grammars-v4/tree/master/java/java

You need to generate the Java files in order: Lexer first and Parser last

antlr4 JavaLexer.g4
antlr4 JavaParser.g4

And finally this is the code that I have used for the ExtractInterfaceListener.java file:

import org.antlr.v4.runtime.TokenStream;

public class ExtractInterfaceListener extends JavaParserBaseListener {
    JavaParser parser;
    public ExtractInterfaceListener(JavaParser parser) {this.parser = parser;}

    @Override
    public void enterClassDeclaration(JavaParser.ClassDeclarationContext ctx) {
        // Errata Suggestion: previous implementation
        // System.out.println("interface I" + ctx.Identifier() + " {");
        // Errata Suggestion: fix
        System.out.println("interface I" + ctx.identifier().getText() + " {");
    }

    @Override
    public void exitClassDeclaration(JavaParser.ClassDeclarationContext classDeclarationContext) {
        System.out.println("}");
    }

    @Override
    public void enterMethodDeclaration(JavaParser.MethodDeclarationContext ctx) {
        // need parser to get tokens
        TokenStream tokens = parser.getTokenStream();
        
        /*
        // Errata Suggestion: previous implementation
        String type = "void";

        if ( ctx.type()!=null ) {
            type = tokens.getText(ctx.type());
        }
        */
        // Errata Suggestion: fix
        String type = ctx.typeTypeOrVoid().getText();

        String args = tokens.getText(ctx.formalParameters());

        // Errata Suggestion: previous implementation
        // System.out.println("\t" + type + " " + ctx.Identifier() + args + ";");
        // Errata Suggestion: fix
        System.out.println("\t" + type + " " + ctx.identifier().getText() + args + ";");
    }
}

I hope it will help someone.