diff --git a/rcljava/include/org_ros2_rcljava_action_ActionServerImpl.h b/rcljava/include/org_ros2_rcljava_action_ActionServerImpl.h
index 28b65441..fe3097bb 100644
--- a/rcljava/include/org_ros2_rcljava_action_ActionServerImpl.h
+++ b/rcljava/include/org_ros2_rcljava_action_ActionServerImpl.h
@@ -126,12 +126,47 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeProcessCancelRequest
  * Method:    nativeCheckGoalExists
  * Signature: (JLorg/ros2/rcljava/interfaces/MessageDefinition;JJ)Z
  */
-
 JNIEXPORT jboolean
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeCheckGoalExists(
   JNIEnv * env, jclass,
   jlong, jobject, jlong, jlong);
 
+/*
+ * Class:     org_ros2_rcljava_action_ActionServerImpl
+ * Method:    nativePublishStatus
+ * Signature: (J)
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativePublishStatus(
+  JNIEnv * env, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_action_ActionServerImpl
+ * Method:    nativePublishFeedbackMessage
+ * Signature: (JLorg/ros2/rcljava/interfaces/FeedbackMessageDefinition;JJ)
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativePublishFeedbackMessage(
+  JNIEnv * env, jclass, jlong, jobject, jlong, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_action_ActionServerImpl
+ * Method:    nativeNotifyGoalDone
+ * Signature: (J)
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeNotifyGoalDone(
+  JNIEnv * env, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_action_ActionServerImpl
+ * Method:    nativeExpireGoals
+ * Signature: (JLaction_msgs/msg/GoalInfo;JLorg/ros2/rcljava/consumers/Consumer;)
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeExpireGoals(
+  JNIEnv * env, jclass, jlong, jobject, jlong, jobject);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rcljava/include/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.h b/rcljava/include/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.h
index 94aaab23..6f6f98ce 100644
--- a/rcljava/include/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.h
+++ b/rcljava/include/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.h
@@ -41,48 +41,12 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_native
 
 /*
  * Class:     org_ros2_rcljava_action_ActionServerImpl$GoalHandleImpl
- * Method:    nativeGoalEventExecute
- * Signature: (J)
- */
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventExecute(
-  JNIEnv * env, jclass, jlong);
-
-/*
- * Class:     org_ros2_rcljava_action_ActionServerImpl$GoalHandleImpl
- * Method:    nativeGoalEventCancelGoal
- * Signature: (J)
- */
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventCancelGoal(
-  JNIEnv * env, jclass, jlong);
-
-/*
- * Class:     org_ros2_rcljava_action_ActionServerImpl$GoalHandleImpl
- * Method:    nativeGoalEventSucceed
- * Signature: (J)
- */
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventSucceed(
-  JNIEnv * env, jclass, jlong);
-
-/*
- * Class:     org_ros2_rcljava_action_ActionServerImpl$GoalHandleImpl
- * Method:    nativeGoalEventAbort
- * Signature: (J)
- */
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventAbort(
-  JNIEnv * env, jclass, jlong);
-
-/*
- * Class:     org_ros2_rcljava_action_ActionServerImpl$GoalHandleImpl
- * Method:    nativeGoalEventCanceled
- * Signature: (J)
+ * Method:    nativeUpdateGoalState
+ * Signature: (JJ)
  */
 JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventCanceled(
-  JNIEnv * env, jclass, jlong);
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeUpdateGoalState(
+  JNIEnv * env, jclass, jlong jgoal_handle, jlong jevent);
 
 /*
  * Class:     org_ros2_rcljava_action_ActionServerImpl$GoalHandleImpl
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl.cpp
index 2d48fef1..47a89440 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl.cpp
@@ -21,6 +21,7 @@
 #include "rcl/error_handling.h"
 #include "rcl/rcl.h"
 #include "rcl_action/rcl_action.h"
+#include "rcpputils/scope_exit.hpp"
 #include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
@@ -30,6 +31,7 @@
 
 #include "./convert.hpp"
 
+using rcljava_common::exceptions::rcljava_throw_exception;
 using rcljava_common::exceptions::rcljava_throw_rclexception;
 using rcljava_common::signatures::convert_from_java_signature;
 using rcljava_common::signatures::convert_to_java_signature;
@@ -363,3 +365,105 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeCheckGoalExists(
 
   return exists;
 }
+
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativePublishStatus(
+  JNIEnv * env, jclass, jlong jaction_server)
+{
+  assert(0 != jaction_server);
+  auto * action_server = reinterpret_cast<rcl_action_server_t *>(jaction_server);
+  rcl_action_goal_status_array_t status_message =
+    rcl_action_get_zero_initialized_goal_status_array();
+  rcl_ret_t ret = rcl_action_get_goal_status_array(action_server, &status_message);
+  if (ret != RCL_RET_OK) {
+    std::string msg = \
+      "Failed to get goal status array: " + std::string(rcl_get_error_string().str);
+    rcl_reset_error();
+    rcljava_throw_rclexception(env, ret, msg);
+    return;
+  }
+
+  ret = rcl_action_publish_status(action_server, &status_message);
+
+  if (ret != RCL_RET_OK) {
+    std::string msg = \
+      "Failed to publish status array: " + std::string(rcl_get_error_string().str);
+    rcl_reset_error();
+    rcljava_throw_rclexception(env, ret, msg);
+    return;
+  }
+}
+
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativePublishFeedbackMessage(
+  JNIEnv * env, jclass, jlong jaction_server, jobject jfeedback_msg,
+  jlong jfeedback_from_java, jlong jfeedback_destroy)
+{
+  assert(0 != jaction_server);
+  assert(nullptr != jfeedback_msg);
+  assert(0 != jfeedback_from_java);
+  assert(0 != jfeedback_destroy);
+
+  auto * action_server = reinterpret_cast<rcl_action_server_t *>(jaction_server);
+  auto destroy_feedback = reinterpret_cast<destroy_ros_message_signature>(jfeedback_destroy);
+  auto from_java_feedback = reinterpret_cast<convert_from_java_signature>(jfeedback_from_java);
+  void * feedback = from_java_feedback(jfeedback_msg, nullptr);
+  auto destroy_feedback_scope_exit = rcpputils::make_scope_exit(
+    [feedback, destroy_feedback]() {destroy_feedback(feedback);});
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  if (!feedback) {
+    return;
+  }
+  rcl_ret_t ret = rcl_action_publish_feedback(action_server, feedback);
+  RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "Failed to publish feedback");
+}
+
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeNotifyGoalDone(
+  JNIEnv * env, jclass, jlong jaction_server)
+{
+  assert(0 != jaction_server);
+  auto * action_server = reinterpret_cast<rcl_action_server_t *>(jaction_server);
+  rcl_ret_t ret = rcl_action_notify_goal_done(action_server);
+  RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "Failed to notify goal done");
+}
+
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeExpireGoals(
+  JNIEnv * env, jclass, jlong jaction_server, jobject jgoal_info,
+  jlong jgoal_info_to_java, jobject jaccept)
+{
+  assert(0 != jaction_server);
+  auto * action_server = reinterpret_cast<rcl_action_server_t *>(jaction_server);
+
+  rcl_action_goal_info_t expired_goal;
+  size_t num_expired = 1;
+
+  // Loop in case more than 1 goal expired
+  jclass jaccept_class = env->GetObjectClass(jaccept);
+  if (!jaccept_class) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalStateException",
+      "nativeExpireGoals(): could not find jaccept class");
+    return;
+  }
+  jmethodID jaccept_mid = env->GetMethodID(
+    jaccept_class, "accept", "(Laction_msgs/msg/GoalInfo;)V");
+  if (!jaccept_mid) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalStateException",
+      "nativeExpireGoals(): could not find jaccept accept method");
+    return;
+  }
+  while (num_expired > 0u) {
+    rcl_ret_t ret;
+    ret = rcl_action_expire_goals(action_server, &expired_goal, 1, &num_expired);
+    RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "Failed to expire goals");
+    if (num_expired) {
+      auto goal_info_to_java = reinterpret_cast<convert_to_java_signature>(jgoal_info_to_java);
+      goal_info_to_java(&expired_goal, jgoal_info);
+      env->CallVoidMethod(jaccept, jaccept_mid, jgoal_info);
+      RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    }
+  }
+}
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.cpp
index de1fb4b6..85185eaa 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.cpp
@@ -26,6 +26,7 @@
 
 #include "org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.h"
 
+using rcljava_common::exceptions::rcljava_throw_exception;
 using rcljava_common::exceptions::rcljava_throw_rclexception;
 using rcljava_common::signatures::convert_from_java_signature;
 using rcljava_common::signatures::destroy_ros_message_signature;
@@ -81,10 +82,40 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_native
   return static_cast<jint>(status);
 }
 
-static void update_goal_state(JNIEnv * env, jlong jgoal_handle, rcl_action_goal_event_t event)
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeUpdateGoalState(
+  JNIEnv * env, jclass, jlong jgoal_handle, jlong jto_status)
 {
-  rcl_action_goal_handle_t * goal_handle = reinterpret_cast<rcl_action_goal_handle_t *>(
-    jgoal_handle);
+  assert(0 != jgoal_handle);
+  rcl_action_goal_event_t event = GOAL_EVENT_NUM_EVENTS;
+  switch (jto_status) {
+    case GOAL_STATE_EXECUTING:
+      event = GOAL_EVENT_EXECUTE;
+      break;
+    case GOAL_STATE_CANCELING:
+      event = GOAL_EVENT_CANCEL_GOAL;
+      break;
+    case GOAL_STATE_SUCCEEDED:
+      event = GOAL_EVENT_SUCCEED;
+      break;
+    case GOAL_STATE_CANCELED:
+      event = GOAL_EVENT_CANCELED;
+      break;
+    case GOAL_STATE_ABORTED:
+      event = GOAL_EVENT_ABORT;
+      break;
+    case GOAL_STATE_ACCEPTED:  // fallthrough
+    case GOAL_STATE_UNKNOWN:  // fallthrough
+    default:
+      break;
+  }
+  if (event >= GOAL_EVENT_NUM_EVENTS) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalStateException", "nativeUpdateGoalState(): Unknown event");
+    return;
+  }
+
+  auto * goal_handle = reinterpret_cast<rcl_action_goal_handle_t *>(jgoal_handle);
   rcl_ret_t ret = rcl_action_update_goal_state(goal_handle, event);
   if (RCL_RET_OK != ret) {
     std::string msg = "Failed to update goal state with event: " +
@@ -94,41 +125,6 @@ static void update_goal_state(JNIEnv * env, jlong jgoal_handle, rcl_action_goal_
   }
 }
 
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventExecute(
-  JNIEnv * env, jclass, jlong jgoal_handle)
-{
-  update_goal_state(env, jgoal_handle, GOAL_EVENT_EXECUTE);
-}
-
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventCancelGoal(
-  JNIEnv * env, jclass, jlong jgoal_handle)
-{
-  update_goal_state(env, jgoal_handle, GOAL_EVENT_CANCEL_GOAL);
-}
-
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventSucceed(
-  JNIEnv * env, jclass, jlong jgoal_handle)
-{
-  update_goal_state(env, jgoal_handle, GOAL_EVENT_SUCCEED);
-}
-
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventAbort(
-  JNIEnv * env, jclass, jlong jgoal_handle)
-{
-  update_goal_state(env, jgoal_handle, GOAL_EVENT_ABORT);
-}
-
-JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeGoalEventCanceled(
-  JNIEnv * env, jclass, jlong jgoal_handle)
-{
-  update_goal_state(env, jgoal_handle, GOAL_EVENT_CANCELED);
-}
-
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_00024GoalHandleImpl_nativeDipose(
   JNIEnv * env, jclass, jlong jgoal_handle)
diff --git a/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerGoalHandle.java b/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerGoalHandle.java
index 11117437..6f207319 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerGoalHandle.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerGoalHandle.java
@@ -17,9 +17,21 @@
 
 import org.ros2.rcljava.interfaces.ActionDefinition;
 import org.ros2.rcljava.interfaces.Disposable;
-import org.ros2.rcljava.interfaces.MessageDefinition;
+import org.ros2.rcljava.interfaces.GoalDefinition;
+import org.ros2.rcljava.interfaces.FeedbackDefinition;
+import org.ros2.rcljava.interfaces.ResultDefinition;
 
 public interface ActionServerGoalHandle<T extends ActionDefinition> extends Disposable {
+  /**
+   * Get the action result type.
+   */
+  public Class<? extends ResultDefinition> getResultType();
+
+  /**
+   * Get the action feedback type.
+   */
+  public Class<? extends FeedbackDefinition> getFeedbackType();
+
   /**
    * Get the message containing the timestamp and ID for the goal.
    */
@@ -28,7 +40,7 @@ public interface ActionServerGoalHandle<T extends ActionDefinition> extends Disp
   /**
    * Get the goal message.
    */
-  public MessageDefinition getGoal();
+  public GoalDefinition<T> getGoal();
 
   /**
    * Get the goal status.
@@ -52,19 +64,26 @@ public interface ActionServerGoalHandle<T extends ActionDefinition> extends Disp
    *
    * Pre-condition: the goal must be in the EXECUTING or CANCELING state.
    */
-  public void succeed();
+  public void succeed(ResultDefinition<T> result);
 
   /**
    * Transition the goal the the CANCELED state.
    *
    * Pre-condition: the goal must be in the CANCELING state.
    */
-  public void canceled();
+  public void canceled(ResultDefinition<T> result);
 
   /**
    * Transition the goal the the CANCELED state.
    *
    * Pre-condition: the goal must be in the EXCUTING or CANCELING state.
    */
-  public void abort();
+  public void abort(ResultDefinition<T> result);
+
+  /**
+   * Send an update about the progress of a goal.
+   *
+   * Pre-condition: the goal must be in the EXCUTING state.
+   */
+  public void publishFeedback(FeedbackDefinition<T> result);
 }
diff --git a/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java b/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java
index b7e740c8..0a2aee98 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java
@@ -27,8 +27,14 @@
 import org.ros2.rcljava.consumers.Consumer;
 import org.ros2.rcljava.interfaces.MessageDefinition;
 import org.ros2.rcljava.interfaces.ActionDefinition;
+import org.ros2.rcljava.interfaces.GoalDefinition;
 import org.ros2.rcljava.interfaces.GoalRequestDefinition;
 import org.ros2.rcljava.interfaces.GoalResponseDefinition;
+import org.ros2.rcljava.interfaces.FeedbackDefinition;
+import org.ros2.rcljava.interfaces.FeedbackMessageDefinition;
+import org.ros2.rcljava.interfaces.ResultDefinition;
+import org.ros2.rcljava.interfaces.ResultRequestDefinition;
+import org.ros2.rcljava.interfaces.ResultResponseDefinition;
 import org.ros2.rcljava.node.Node;
 import org.ros2.rcljava.service.RMWRequestId;
 import org.ros2.rcljava.time.Clock;
@@ -53,9 +59,8 @@ public class ActionServerImpl<T extends ActionDefinition> implements ActionServe
 
   class GoalHandleImpl implements ActionServerGoalHandle<T> {
     private long handle;
-    private ActionServer<T> actionServer;
     private action_msgs.msg.GoalInfo goalInfo;
-    private MessageDefinition goal;
+    private GoalDefinition<T> goal;
 
     private native long nativeAcceptNewGoal(
       long actionServerHandle,
@@ -63,28 +68,37 @@ private native long nativeAcceptNewGoal(
       long goalInfoDestructorHandle,
       MessageDefinition goalInfo);
     private native int nativeGetStatus(long goalHandle);
-    private native void nativeGoalEventExecute(long goalHandle);
-    private native void nativeGoalEventCancelGoal(long goalHandle);
-    private native void nativeGoalEventSucceed(long goalHandle);
-    private native void nativeGoalEventAbort(long goalHandle);
-    private native void nativeGoalEventCanceled(long goalHandle);
+    private native void nativeUpdateGoalState(long goalHandle, long event);
     private native void nativeDispose(long handle);
 
     public GoalHandleImpl(
-      ActionServer<T> actionServer, action_msgs.msg.GoalInfo goalInfo, MessageDefinition goal)
+      action_msgs.msg.GoalInfo goalInfo, GoalDefinition<T> goal)
     {
-      this.actionServer = actionServer;
       this.goalInfo = goalInfo;
       this.goal = goal;
       long goalInfoFromJavaConverterHandle = goalInfo.getFromJavaConverterInstance();
       long goalInfoDestructorHandle = goalInfo.getDestructorInstance();
       this.handle = nativeAcceptNewGoal(
-        actionServer.getHandle(),
+        ActionServerImpl.this.getHandle(),
         goalInfoFromJavaConverterHandle,
         goalInfoDestructorHandle,
         goalInfo);
     }
 
+    /**
+     * {@inheritDoc}
+     */
+    public Class<? extends ResultDefinition> getResultType() {
+      return ActionServerImpl.this.actionTypeInstance.getResultType();
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public Class<? extends FeedbackDefinition> getFeedbackType() {
+      return ActionServerImpl.this.actionTypeInstance.getFeedbackType();
+    }
+
     /**
      * {@inheritDoc}
      */
@@ -95,7 +109,7 @@ public action_msgs.msg.GoalInfo getGoalInfo() {
     /**
      * {@inheritDoc}
      */
-    public MessageDefinition getGoal() {
+    public GoalDefinition<T> getGoal() {
       return this.goal;
     }
 
@@ -122,7 +136,7 @@ public synchronized void execute() {
       // In this case we want to avoid the illegal state transition to EXECUTING
       // but still call the users execute callback to let them handle canceling the goal.
       if (!this.isCanceling()) {
-        nativeGoalEventExecute(this.handle);
+        nativeUpdateGoalState(this.handle, action_msgs.msg.GoalStatus.STATUS_EXECUTING);
       }
     }
 
@@ -130,28 +144,45 @@ public synchronized void execute() {
      * Transition the goal to the CANCELING state.
      */
     public synchronized void cancelGoal() {
-      nativeGoalEventCancelGoal(this.handle);
+      nativeUpdateGoalState(this.handle, action_msgs.msg.GoalStatus.STATUS_CANCELING);
     }
 
     /**
      * {@inheritDoc}
      */
-    public synchronized void succeed() {
-      nativeGoalEventSucceed(this.handle);
+    public synchronized void succeed(ResultDefinition<T> result) {
+      this.toTerminalState(action_msgs.msg.GoalStatus.STATUS_SUCCEEDED, result);
     }
 
     /**
      * {@inheritDoc}
      */
-    public synchronized void canceled() {
-      nativeGoalEventCanceled(this.handle);
+    public synchronized void canceled(ResultDefinition<T> result) {
+      this.toTerminalState(action_msgs.msg.GoalStatus.STATUS_CANCELED, result);
     }
 
     /**
      * {@inheritDoc}
      */
-    public synchronized void abort() {
-      nativeGoalEventAbort(this.handle);
+    public synchronized void abort(ResultDefinition<T> result) {
+      this.toTerminalState(action_msgs.msg.GoalStatus.STATUS_ABORTED, result);
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public synchronized void publishFeedback(FeedbackDefinition<T> feedback) {
+      Class<? extends FeedbackMessageDefinition> feedbackMessageType =
+        ActionServerImpl.this.actionTypeInstance.getFeedbackMessageType();
+      FeedbackMessageDefinition<T> feedbackMessage = null;
+      try {
+        feedbackMessage = feedbackMessageType.newInstance();
+      } catch (Exception ex) {
+        throw new IllegalArgumentException("Failed to instantiate feedback message", ex);
+      }
+      feedbackMessage.setFeedback(feedback);
+      feedbackMessage.setGoalUuid(this.goalInfo.getGoalId().getUuidAsList());
+      ActionServerImpl.this.publishFeedbackMessage(feedbackMessage);
     }
 
     /**
@@ -168,6 +199,17 @@ public synchronized final void dispose() {
     public final long getHandle() {
       return this.handle;
     }
+
+    private synchronized final void toTerminalState(byte status, ResultDefinition<T> result) {
+      nativeUpdateGoalState(this.handle, status);
+      ResultResponseDefinition resultResponse = ActionServerImpl.this.createResultResponse();
+      resultResponse.setGoalStatus(status);
+      resultResponse.setResult(result);
+      ActionServerImpl.this.sendResult(goalInfo.getGoalId().getUuidAsList(), resultResponse);
+      ActionServerImpl.this.publishStatus();
+      ActionServerImpl.this.notifyGoalDone();
+      ActionServerImpl.this.goalHandles.remove(this.goalInfo.getGoalId().getUuidAsList());
+    }
   }  // class GoalHandleImpl
 
   private final WeakReference<Node> nodeReference;
@@ -182,6 +224,8 @@ public final long getHandle() {
   private boolean[] readyEntities;
 
   private Map<List<Byte>, GoalHandleImpl> goalHandles;
+  private Map<List<Byte>, List<RMWRequestId>> goalRequests;
+  private Map<List<Byte>, ResultResponseDefinition<T>> goalResults;
 
   private boolean isGoalRequestReady() {
     return this.readyEntities[0];
@@ -231,6 +275,8 @@ public ActionServerImpl(
     this.acceptedCallback = acceptedCallback;
 
     this.goalHandles = new HashMap<List<Byte>, GoalHandleImpl>();
+    this.goalRequests = new HashMap<List<Byte>, List<RMWRequestId>>();
+    this.goalResults = new HashMap<List<Byte>, ResultResponseDefinition<T>>();
 
     Node node = nodeReference.get();
     if (node == null) {
@@ -301,18 +347,10 @@ private ActionServerGoalHandle<T> executeGoalRequest(
 
     // Create and populate a GoalInfo message
     List<Byte> goalUuid = requestMessage.getGoalUuid();
-    action_msgs.msg.GoalInfo goalInfo = new action_msgs.msg.GoalInfo();
-    unique_identifier_msgs.msg.UUID uuidMessage= new unique_identifier_msgs.msg.UUID();
-    uuidMessage.setUuid(goalUuid);
-    goalInfo.setGoalId(uuidMessage);
-    goalInfo.setStamp(timeRequestHandled);
-
-    long goalInfoFromJavaConverterHandle = goalInfo.getFromJavaConverterInstance();
-    long goalInfoDestructorHandle = goalInfo.getDestructorInstance();
 
+    action_msgs.msg.GoalInfo goalInfo = this.createGoalInfo(goalUuid);
     // Check that the goal ID isn't already being used
-    boolean goalExists = nativeCheckGoalExists(
-      this.handle, goalInfo, goalInfoFromJavaConverterHandle, goalInfoDestructorHandle);
+    boolean goalExists = this.goalExists(goalInfo);
     if (goalExists) {
       logger.warn("Received goal request for goal already being tracked by action server. Goal ID: " + goalUuid);
       responseMessage.accept(false);
@@ -326,14 +364,13 @@ private ActionServerGoalHandle<T> executeGoalRequest(
       || GoalCallback.GoalResponse.ACCEPT_AND_EXECUTE == response;
     responseMessage.accept(accepted);
 
-    System.out.println("Goal request handled " + accepted);
     if (!accepted) {
       return null;
     }
 
     // Create a goal handle and add it to the list of goals
     GoalHandleImpl goalHandle = this.new GoalHandleImpl(
-      this, goalInfo, requestMessage.getGoal());
+      goalInfo, requestMessage.getGoal());
     this.goalHandles.put(requestMessage.getGoalUuid(), goalHandle);
     if (GoalCallback.GoalResponse.ACCEPT_AND_EXECUTE == response) {
       goalHandle.execute();
@@ -373,6 +410,23 @@ private action_msgs.srv.CancelGoal_Response executeCancelRequest(
     return outputMessage;
   }
 
+  private void sendResultResponse(
+    RMWRequestId rmwRequestId,
+    ResultResponseDefinition<T> resultResponse)
+  {
+    long resultFromJavaConverterHandle = resultResponse.getFromJavaConverterInstance();
+    long resultToJavaConverterHandle = resultResponse.getToJavaConverterInstance();
+    long resultDestructorHandle = resultResponse.getDestructorInstance();
+
+    nativeSendResultResponse(
+      this.handle,
+      rmwRequestId,
+      resultFromJavaConverterHandle,
+      resultToJavaConverterHandle,
+      resultDestructorHandle,
+      resultResponse);
+  }
+
   private static native RMWRequestId nativeTakeGoalRequest(
     long actionServerHandle,
     long requestFromJavaConverterHandle,
@@ -432,6 +486,95 @@ private static native boolean nativeCheckGoalExists(
     long goalInfoFromJavaConverterHandle,
     long goalInfoDestructorHandle);
 
+  private boolean goalExists(action_msgs.msg.GoalInfo goalInfo) {
+    long goalInfoFromJavaConverterHandle = goalInfo.getFromJavaConverterInstance();
+    long goalInfoDestructorHandle = goalInfo.getDestructorInstance();
+
+    return nativeCheckGoalExists(
+      this.handle, goalInfo, goalInfoFromJavaConverterHandle, goalInfoDestructorHandle);
+  }
+
+  private static native void nativePublishStatus(long handle);
+
+  private void publishStatus() {
+    this.nativePublishStatus(this.handle);
+  }
+
+  private static native void nativePublishFeedbackMessage(
+    long handle,
+    FeedbackMessageDefinition feedbackMessage,
+    long feedbackMessageFromJavaConverterHandle,
+    long feedbackMessageDestructorHandle);
+
+  private void publishFeedbackMessage(FeedbackMessageDefinition<T> feedbackMessage) {
+    this.nativePublishFeedbackMessage(
+      this.handle,
+      feedbackMessage,
+      feedbackMessage.getFromJavaConverterInstance(),
+      feedbackMessage.getDestructorInstance());
+  }
+
+  private static native void nativeNotifyGoalDone(long handle);
+
+  private void notifyGoalDone() {
+    this.nativeNotifyGoalDone(this.handle);
+  }
+
+  private static native void nativeExpireGoals(
+    long handle, action_msgs.msg.GoalInfo goalInfo,
+    long goalInfoToJavaConverterHandle, Consumer<action_msgs.msg.GoalInfo> onExpiredGoal);
+
+  private void expireGoals() {
+    action_msgs.msg.GoalInfo goalInfo = new action_msgs.msg.GoalInfo();
+    long goalInfoToJavaConverterHandle = goalInfo.getFromJavaConverterInstance();
+    nativeExpireGoals(
+      this.handle, goalInfo, goalInfoToJavaConverterHandle,
+      new Consumer<action_msgs.msg.GoalInfo>() {
+        public void accept(action_msgs.msg.GoalInfo goalInfo) {
+          List<Byte> goalUuid = goalInfo.getGoalId().getUuidAsList();
+          ActionServerImpl.this.goalResults.remove(goalUuid);
+          ActionServerImpl.this.goalRequests.remove(goalUuid);
+          ActionServerImpl.this.goalHandles.remove(goalUuid);
+        }
+      });
+  }
+
+  private action_msgs.msg.GoalInfo createGoalInfo(List<Byte> goalUuid) {
+    action_msgs.msg.GoalInfo goalInfo = new action_msgs.msg.GoalInfo();
+    unique_identifier_msgs.msg.UUID uuidMessage= new unique_identifier_msgs.msg.UUID();
+    uuidMessage.setUuid(goalUuid);
+    goalInfo.setGoalId(uuidMessage);
+    return goalInfo;
+  }
+
+  private ResultResponseDefinition<T> createResultResponse() {
+    ResultResponseDefinition<T> resultResponse;
+    try {
+      resultResponse = this.actionTypeInstance.getGetResultResponseType().newInstance();
+    } catch (Exception ex) {
+      throw new IllegalArgumentException("Failed to instantiate provided action type", ex);
+    }
+    return resultResponse;
+  }
+
+  // This will store the result, so it can be sent to future result requests, and 
+  // will also send a result response to all requests that were already made.
+  private void sendResult(List<Byte> goalUuid, ResultResponseDefinition<T> resultResponse) {
+    boolean goalExists = this.goalExists(this.createGoalInfo(goalUuid));
+    if (!goalExists) {
+      throw new IllegalStateException("Asked to publish result for goal that does not exist");
+    }
+    this.goalResults.put(goalUuid, resultResponse);
+
+    // if there are clients who already asked for the result, send it to them
+    List<RMWRequestId> requests = this.goalRequests.get(goalUuid);
+    if (requests != null) {
+      for (RMWRequestId request : requests) {
+        this.sendResultResponse(request, resultResponse);
+      }
+    }
+  }
+
   /**
    * {@inheritDoc}
    */
@@ -509,13 +652,57 @@ public void execute() {
     }
 
     if (this.isResultRequestReady()) {
-      // executeResultRequest(rmwRequestId, requestMessage, responseMessage);
-      // TODO
+      Class<? extends ResultRequestDefinition> requestType = this.actionTypeInstance.getGetResultRequestType();
+
+      ResultRequestDefinition<T> requestMessage = null;
+      try {
+        requestMessage = requestType.newInstance();
+      } catch (Exception ex) {
+        throw new IllegalArgumentException("Failed to instantiate action result request", ex);
+      }
+
+      if (requestMessage != null) {
+        long requestFromJavaConverterHandle = requestMessage.getFromJavaConverterInstance();
+        long requestToJavaConverterHandle = requestMessage.getToJavaConverterInstance();
+        long requestDestructorHandle = requestMessage.getDestructorInstance();
+
+        RMWRequestId rmwRequestId =
+          nativeTakeResultRequest(
+            this.handle,
+            requestFromJavaConverterHandle, requestToJavaConverterHandle, requestDestructorHandle,
+            requestMessage);
+
+        if (rmwRequestId == null) {
+          return;
+        }
+
+        List<Byte> goalUuid = requestMessage.getGoalUuid();
+        boolean goalExists = this.goalExists(this.createGoalInfo(goalUuid));
+
+        ResultResponseDefinition<T> resultResponse = null;
+        if (!goalExists) {
+          resultResponse = this.createResultResponse();
+          resultResponse.setGoalStatus(action_msgs.msg.GoalStatus.STATUS_UNKNOWN);
+        } else {
+          resultResponse = this.goalResults.get(goalUuid);
+        }
+
+        if (null == resultResponse) {
+          List<RMWRequestId> requestIds = null;
+          requestIds = this.goalRequests.get(goalUuid);
+          if (requestIds == null) {
+            requestIds = new ArrayList();
+            this.goalRequests.put(goalUuid, requestIds);
+          }
+          requestIds.add(rmwRequestId);
+        } else {
+          this.sendResultResponse(rmwRequestId, resultResponse);
+        }
+      }
     }
 
     if (this.isGoalExpiredReady()) {
-      // cleanupExpiredGoals();
-      // TODO
+      this.expireGoals();
     }
   }
 
diff --git a/rcljava/src/main/java/org/ros2/rcljava/action/GoalStatus.java b/rcljava/src/main/java/org/ros2/rcljava/action/GoalStatus.java
index aee9e1c9..abacc6df 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/action/GoalStatus.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/action/GoalStatus.java
@@ -16,32 +16,31 @@
 package org.ros2.rcljava.action;
 
 public enum GoalStatus {
-  UNKNOWN,
-  ACCEPTED,
-  EXECUTING,
-  CANCELING,
-  SUCCEEDED,
-  CANCELED,
-  ABORTED;
+  UNKNOWN(action_msgs.msg.GoalStatus.STATUS_UNKNOWN),
+  ACCEPTED(action_msgs.msg.GoalStatus.STATUS_ACCEPTED),
+  EXECUTING(action_msgs.msg.GoalStatus.STATUS_EXECUTING),
+  CANCELING(action_msgs.msg.GoalStatus.STATUS_CANCELING),
+  SUCCEEDED(action_msgs.msg.GoalStatus.STATUS_SUCCEEDED),
+  CANCELED(action_msgs.msg.GoalStatus.STATUS_CANCELED),
+  ABORTED(action_msgs.msg.GoalStatus.STATUS_ABORTED);
 
-  public static GoalStatus fromMessageValue(byte status) {
-    switch (status) {
-      case action_msgs.msg.GoalStatus.STATUS_ACCEPTED:
-        return GoalStatus.ACCEPTED;
-      case action_msgs.msg.GoalStatus.STATUS_EXECUTING:
-        return GoalStatus.EXECUTING;
-      case action_msgs.msg.GoalStatus.STATUS_CANCELING:
-        return GoalStatus.CANCELING;
-      case action_msgs.msg.GoalStatus.STATUS_SUCCEEDED:
-        return GoalStatus.SUCCEEDED;
-      case action_msgs.msg.GoalStatus.STATUS_CANCELED:
-        return GoalStatus.CANCELED;
-      case action_msgs.msg.GoalStatus.STATUS_ABORTED:
-        return GoalStatus.ABORTED;
-      case action_msgs.msg.GoalStatus.STATUS_UNKNOWN:
-      default:
-        return GoalStatus.UNKNOWN;
+  public static GoalStatus fromMessageValue(byte value) {
+    for (GoalStatus status: GoalStatus.values()) {
+      if (status.status == value) {
+        return status;
+      }
     }
+    return GoalStatus.ABORTED;
   }
+
+  public byte toMessageValue() {
+    return this.status;
+  }
+
+  private GoalStatus(byte status) {
+    this.status = status;
+  }
+
+  private byte status;
 }
 
diff --git a/rcljava_common/CMakeLists.txt b/rcljava_common/CMakeLists.txt
index 46715393..f6c3f2eb 100644
--- a/rcljava_common/CMakeLists.txt
+++ b/rcljava_common/CMakeLists.txt
@@ -38,9 +38,15 @@ set(${PROJECT_NAME}_java_sources
   "src/main/java/org/ros2/rcljava/exceptions/RCLReturn.java"
   "src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java"
   "src/main/java/org/ros2/rcljava/interfaces/Disposable.java"
-  "src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java"
+  "src/main/java/org/ros2/rcljava/interfaces/FeedbackDefinition.java"
+  "src/main/java/org/ros2/rcljava/interfaces/FeedbackMessageDefinition.java"
+  "src/main/java/org/ros2/rcljava/interfaces/GoalDefinition.java"
   "src/main/java/org/ros2/rcljava/interfaces/GoalResponseDefinition.java"
+  "src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java"
   "src/main/java/org/ros2/rcljava/interfaces/MessageDefinition.java"
+  "src/main/java/org/ros2/rcljava/interfaces/ResultDefinition.java"
+  "src/main/java/org/ros2/rcljava/interfaces/ResultRequestDefinition.java"
+  "src/main/java/org/ros2/rcljava/interfaces/ResultResponseDefinition.java"
   "src/main/java/org/ros2/rcljava/interfaces/ServiceDefinition.java"
 )
 
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java
index e39d65d8..d225901e 100644
--- a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java
@@ -18,6 +18,9 @@
 public interface ActionDefinition {
   Class<? extends GoalRequestDefinition> getSendGoalRequestType();
   Class<? extends GoalResponseDefinition> getSendGoalResponseType();
-  Class<? extends MessageDefinition> getGetResultRequestType();
-  Class<? extends MessageDefinition> getGetResultResponseType();
+  Class<? extends ResultRequestDefinition> getGetResultRequestType();
+  Class<? extends ResultResponseDefinition> getGetResultResponseType();
+  Class<? extends ResultDefinition> getResultType();
+  Class<? extends FeedbackDefinition> getFeedbackType();
+  Class<? extends FeedbackMessageDefinition> getFeedbackMessageType();
 }
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/FeedbackDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/FeedbackDefinition.java
new file mode 100644
index 00000000..daff4162
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/FeedbackDefinition.java
@@ -0,0 +1,25 @@
+/* Copyright 2021 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.interfaces;
+
+/**
+* Definition of an action feedback.
+* Implementation of this interface for an Action is automatically generated.
+*
+* Don't extend this interface yourself!!
+*/
+public interface FeedbackDefinition<T extends ActionDefinition> extends MessageDefinition {
+}
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/FeedbackMessageDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/FeedbackMessageDefinition.java
new file mode 100644
index 00000000..8ef39114
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/FeedbackMessageDefinition.java
@@ -0,0 +1,29 @@
+/* Copyright 2021 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.interfaces;
+
+import java.util.List;
+
+/**
+* Definition of an action feedback message.
+* Implementation of this interface for an Action is automatically generated.
+*
+* Don't extend this interface yourself!!
+*/
+public interface FeedbackMessageDefinition<T extends ActionDefinition> extends MessageDefinition {
+  void setFeedback(FeedbackDefinition<T> feedback);
+  void setGoalUuid(List<Byte> goalUuid);
+}
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalDefinition.java
new file mode 100644
index 00000000..3aeea1af
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalDefinition.java
@@ -0,0 +1,25 @@
+/* Copyright 2021 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.interfaces;
+
+/**
+* Definition of an action goal.
+* Implementation of this interface for an Action is automatically generated.
+*
+* Don't extend this interface yourself!!
+*/
+public interface GoalDefinition<T extends ActionDefinition> extends MessageDefinition {
+}
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java
index cf6dc177..5191a4ab 100644
--- a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java
@@ -18,6 +18,6 @@
 import java.util.List;
 
 public interface GoalRequestDefinition<T extends ActionDefinition> extends MessageDefinition {
-  MessageDefinition getGoal();
+  GoalDefinition<T> getGoal();
   List<Byte> getGoalUuid();
 }
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultDefinition.java
new file mode 100644
index 00000000..daec4304
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultDefinition.java
@@ -0,0 +1,25 @@
+/* Copyright 2021 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.interfaces;
+
+/**
+* Definition of an action result.
+* Implementation of this interface for an Action is automatically generated.
+*
+* Don't extend this interface yourself!!
+*/
+public interface ResultDefinition<T extends ActionDefinition> extends MessageDefinition {
+}
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultRequestDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultRequestDefinition.java
new file mode 100644
index 00000000..f259e1e7
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultRequestDefinition.java
@@ -0,0 +1,22 @@
+/* Copyright 2021 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.interfaces;
+
+import java.util.List;
+
+public interface ResultRequestDefinition<T extends ActionDefinition> extends MessageDefinition {
+  List<Byte> getGoalUuid();
+}
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultResponseDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultResponseDefinition.java
new file mode 100644
index 00000000..86a927e7
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ResultResponseDefinition.java
@@ -0,0 +1,23 @@
+/* Copyright 2021 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.interfaces;
+
+import java.util.List;
+
+public interface ResultResponseDefinition<T extends ActionDefinition> extends MessageDefinition {
+  void setResult(ResultDefinition<T> result);
+  void setGoalStatus(byte status);
+}
diff --git a/rosidl_generator_java/resource/action.java.em b/rosidl_generator_java/resource/action.java.em
index 2656f192..f5e33b2b 100644
--- a/rosidl_generator_java/resource/action.java.em
+++ b/rosidl_generator_java/resource/action.java.em
@@ -23,7 +23,10 @@ data = {
     'output_dir': output_dir,
     'template_basepath': template_basepath,
 }
-data.update({'message': action.goal})
+data.update({
+  'message': action.goal,
+  'marker_interfaces': [f'org.ros2.rcljava.interfaces.GoalDefinition<{type_name}>'],
+})
 output_file = os.path.join(output_dir, *namespaces[1:], goal_type_name + '.java')
 expand_template(
     'msg.java.em',
@@ -31,7 +34,10 @@ expand_template(
     output_file,
     template_basepath=template_basepath)
 
-data.update({'message': action.result})
+data.update({
+  'message': action.result,
+  'marker_interfaces': [f'org.ros2.rcljava.interfaces.ResultDefinition<{type_name}>'],
+})
 output_file = os.path.join(output_dir, *namespaces[1:], result_type_name + '.java')
 expand_template(
     'msg.java.em',
@@ -39,7 +45,10 @@ expand_template(
     output_file,
     template_basepath=template_basepath)
 
-data.update({'message': action.feedback})
+data.update({
+  'message': action.feedback,
+  'marker_interfaces': [f'org.ros2.rcljava.interfaces.FeedbackDefinition<{type_name}>'],
+})
 output_file = os.path.join(output_dir, *namespaces[1:], feedback_type_name + '.java')
 expand_template(
     'msg.java.em',
@@ -47,7 +56,10 @@ expand_template(
     output_file,
     template_basepath=template_basepath)
 
-data.update({'message': action.feedback_message})
+data.update({
+  'message': action.feedback_message,
+  'marker_interfaces': [],
+})
 output_file = os.path.join(output_dir, *namespaces[1:], feedback_message_type_name + '.java')
 expand_template(
     'msg.java.em',
@@ -55,6 +67,8 @@ expand_template(
     output_file,
     template_basepath=template_basepath)
 
+del data['marker_interfaces']
+del data['message']
 data.update({'service': action.send_goal_service})
 output_file = os.path.join(output_dir, *namespaces[1:], send_goal_type_name + '.java')
 expand_template(
@@ -75,9 +89,15 @@ action_imports = [
     'java.util.List',
     'org.ros2.rcljava.common.JNIUtils',
     'org.ros2.rcljava.interfaces.ActionDefinition',
+    'org.ros2.rcljava.interfaces.FeedbackDefinition',
+    'org.ros2.rcljava.interfaces.FeedbackMessageDefinition',
+    'org.ros2.rcljava.interfaces.GoalDefinition',
     'org.ros2.rcljava.interfaces.GoalRequestDefinition',
     'org.ros2.rcljava.interfaces.GoalResponseDefinition',
     'org.ros2.rcljava.interfaces.MessageDefinition',
+    'org.ros2.rcljava.interfaces.ResultDefinition',
+    'org.ros2.rcljava.interfaces.ResultRequestDefinition',
+    'org.ros2.rcljava.interfaces.ResultResponseDefinition',
     'org.slf4j.Logger',
     'org.slf4j.LoggerFactory',
 ]
@@ -91,7 +111,6 @@ public class @(type_name) implements ActionDefinition {
 
   public static class SendGoalRequest extends @(type_name)_SendGoal_Request implements GoalRequestDefinition<@(type_name)> {
     public List<Byte> getGoalUuid() {
-      // Return List since it's hash is based on the values (not the object pointer)
       return super.getGoalId().getUuidAsList();
     }
   }
@@ -109,20 +128,56 @@ public class @(type_name) implements ActionDefinition {
     }
   }
 
-  public Class<? extends GoalRequestDefinition> getSendGoalRequestType() {
+  public static class GetResultRequest extends @(type_name)_GetResult_Request implements ResultRequestDefinition<@(type_name)> {
+    public List<Byte> getGoalUuid() {
+      return super.getGoalId().getUuidAsList();
+    }
+  }
+
+  public static class GetResultResponse extends @(type_name)_GetResult_Response implements ResultResponseDefinition<@(type_name)> {
+    public void setResult(ResultDefinition<@(type_name)> result) {
+      super.setResult((@(type_name)_Result)result);
+    }
+    public void setGoalStatus(byte status) {
+      super.setStatus(status);
+    }
+  }
+
+  public static class FeedbackMessage extends @(type_name)_FeedbackMessage implements FeedbackMessageDefinition<@(type_name)> {
+    public void setFeedback(FeedbackDefinition<@(type_name)> feedback) {
+      super.setFeedback((@(type_name)_Feedback) feedback);
+    }
+    public void setGoalUuid(List<Byte> goalUuid) {
+      super.getGoalId().setUuid(goalUuid);
+    }
+  }
+
+  public Class<? extends GoalRequestDefinition<@(type_name)>> getSendGoalRequestType() {
     return SendGoalRequest.class;
   }
 
-  public Class<? extends GoalResponseDefinition> getSendGoalResponseType() {
+  public Class<? extends GoalResponseDefinition<@(type_name)>> getSendGoalResponseType() {
     return SendGoalResponse.class;
   }
 
-  public Class<? extends MessageDefinition> getGetResultRequestType() {
-    return @(type_name)_GetResult_Request.class;
+  public Class<? extends ResultRequestDefinition<@(type_name)>> getGetResultRequestType() {
+    return GetResultRequest.class;
+  }
+
+  public Class<? extends ResultResponseDefinition<@(type_name)>> getGetResultResponseType() {
+    return GetResultResponse.class;
   }
 
-  public Class<? extends MessageDefinition> getGetResultResponseType() {
-    return @(type_name)_GetResult_Response.class;
+  public Class<? extends ResultDefinition<@(type_name)>> getResultType() {
+    return @(type_name)_Result.class;
+  }
+
+  public Class<? extends FeedbackDefinition<@(type_name)>> getFeedbackType() {
+    return @(type_name)_Feedback.class;
+  }
+
+  public Class<? extends FeedbackMessageDefinition<@(type_name)>> getFeedbackMessageType() {
+    return FeedbackMessage.class;
   }
 
   private static final Logger logger = LoggerFactory.getLogger(@(type_name).class);
@@ -143,6 +198,4 @@ public class @(type_name) implements ActionDefinition {
   public static final Class<@(type_name)_Result> ResultType = @(type_name)_Result.class;
 
   public static final Class<@(type_name)_Feedback> FeedbackType = @(type_name)_Feedback.class;
-
-  public static final Class<@(type_name)_FeedbackMessage> FeedbackMessageType = @(type_name)_FeedbackMessage.class;
 }
diff --git a/rosidl_generator_java/resource/idl.java.em b/rosidl_generator_java/resource/idl.java.em
index f34d75c7..9c90c354 100644
--- a/rosidl_generator_java/resource/idl.java.em
+++ b/rosidl_generator_java/resource/idl.java.em
@@ -26,6 +26,7 @@ data = {
     'interface_path': interface_path,
     'output_dir': output_dir,
     'template_basepath': template_basepath,
+    'marker_interfaces': [],
 }
 
 for message in content.get_elements_of_type(Message):
diff --git a/rosidl_generator_java/resource/msg.java.em b/rosidl_generator_java/resource/msg.java.em
index 9dcb2a42..f5b62f2e 100644
--- a/rosidl_generator_java/resource/msg.java.em
+++ b/rosidl_generator_java/resource/msg.java.em
@@ -17,6 +17,9 @@ from rosidl_parser.definition import BoundedSequence
 from rosidl_parser.definition import NamespacedType
 
 type_name = message.structure.namespaced_type.name
+interfaces_implemented = ['MessageDefinition']
+interfaces_implemented.extend(f"{t.rsplit('.', 1)[1]}" for t in marker_interfaces)
+interfaces_implemented = ', '.join(interfaces_implemented)
 
 message_imports = [
     'org.apache.commons.lang3.builder.EqualsBuilder',
@@ -26,6 +29,7 @@ message_imports = [
     'org.slf4j.Logger',
     'org.slf4j.LoggerFactory',
 ]
+message_imports.extend(f"{t.split('<', 1)[0]}" for t in marker_interfaces)
 }@
 @[for message_import in message_imports]@
 import @(message_import);
@@ -38,7 +42,7 @@ import @('.'.join(member.type.namespaced_name()));
 @[  end if]@
 @[end for]@
 
-public class @(type_name) implements MessageDefinition {
+public class @(type_name) implements @(interfaces_implemented) {
 
   private static final Logger logger = LoggerFactory.getLogger(@(type_name).class);
 
diff --git a/rosidl_generator_java/resource/srv.java.em b/rosidl_generator_java/resource/srv.java.em
index 9be7a6a7..8bfb887c 100644
--- a/rosidl_generator_java/resource/srv.java.em
+++ b/rosidl_generator_java/resource/srv.java.em
@@ -18,6 +18,7 @@ data = {
     'interface_path': interface_path,
     'output_dir': output_dir,
     'template_basepath': template_basepath,
+    'marker_interfaces': [],
 }
 data.update({'message': service.request_message})
 output_file = os.path.join(output_dir, *namespaces[1:], request_type_name + '.java')