diff --git a/rcljava_common/CMakeLists.txt b/rcljava_common/CMakeLists.txt
index 3bc04fde..46715393 100644
--- a/rcljava_common/CMakeLists.txt
+++ b/rcljava_common/CMakeLists.txt
@@ -38,6 +38,8 @@ 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/GoalResponseDefinition.java"
   "src/main/java/org/ros2/rcljava/interfaces/MessageDefinition.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 9681463b..e39d65d8 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
@@ -15,4 +15,9 @@
 
 package org.ros2.rcljava.interfaces;
 
-public interface ActionDefinition {}
+public interface ActionDefinition {
+  Class<? extends GoalRequestDefinition> getSendGoalRequestType();
+  Class<? extends GoalResponseDefinition> getSendGoalResponseType();
+  Class<? extends MessageDefinition> getGetResultRequestType();
+  Class<? extends MessageDefinition> getGetResultResponseType();
+}
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
new file mode 100644
index 00000000..cf6dc177
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java
@@ -0,0 +1,23 @@
+/* Copyright 2020 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 GoalRequestDefinition<T extends ActionDefinition> extends MessageDefinition {
+  MessageDefinition getGoal();
+  List<Byte> getGoalUuid();
+}
diff --git a/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalResponseDefinition.java b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalResponseDefinition.java
new file mode 100644
index 00000000..c645cf8f
--- /dev/null
+++ b/rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalResponseDefinition.java
@@ -0,0 +1,21 @@
+/* Copyright 2020 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;
+
+public interface GoalResponseDefinition<T extends ActionDefinition> extends MessageDefinition {
+  void accept(boolean accepted);
+  void setStamp(int sec, int nanosec);
+}
diff --git a/rosidl_generator_java/resource/action.java.em b/rosidl_generator_java/resource/action.java.em
index 5e7ebbe9..cb6c1dd3 100644
--- a/rosidl_generator_java/resource/action.java.em
+++ b/rosidl_generator_java/resource/action.java.em
@@ -63,8 +63,12 @@ expand_template(
     template_basepath=template_basepath)
 
 action_imports = [
+    'java.util.List',
     'org.ros2.rcljava.common.JNIUtils',
     'org.ros2.rcljava.interfaces.ActionDefinition',
+    'org.ros2.rcljava.interfaces.GoalRequestDefinition',
+    'org.ros2.rcljava.interfaces.GoalResponseDefinition',
+    'org.ros2.rcljava.interfaces.MessageDefinition',
     'org.slf4j.Logger',
     'org.slf4j.LoggerFactory',
 ]
@@ -76,6 +80,42 @@ import @(action_import);
 
 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();
+    }
+  }
+
+  public static class SendGoalResponse extends @(type_name)_SendGoal_Response implements GoalResponseDefinition<@(type_name)> {
+    public void accept(boolean accepted) {
+      super.setAccepted(accepted);
+    }
+
+    public void setStamp(int sec, int nanosec) {
+      builtin_interfaces.msg.Time msg = new builtin_interfaces.msg.Time();
+      msg.setSec(sec);
+      msg.setNanosec(nanosec);
+      super.setStamp(msg);
+    }
+  }
+
+  public Class<? extends GoalRequestDefinition> getSendGoalRequestType() {
+    return SendGoalRequest.class;
+  }
+
+  public Class<? extends GoalResponseDefinition> getSendGoalResponseType() {
+    return SendGoalResponse.class;
+  }
+
+  public Class<? extends MessageDefinition> getGetResultRequestType() {
+    return @(type_name)_GetResult_Request.class;
+  }
+
+  public Class<? extends MessageDefinition> getGetResultResponseType() {
+    return @(type_name)_GetResult_Response.class;
+  }
+
   private static final Logger logger = LoggerFactory.getLogger(@(type_name).class);
 
   static {
diff --git a/rosidl_generator_java/resource/msg.java.em b/rosidl_generator_java/resource/msg.java.em
index c8912488..9dcb2a42 100644
--- a/rosidl_generator_java/resource/msg.java.em
+++ b/rosidl_generator_java/resource/msg.java.em
@@ -38,7 +38,7 @@ import @('.'.join(member.type.namespaced_name()));
 @[  end if]@
 @[end for]@
 
-public final class @(type_name) implements MessageDefinition {
+public class @(type_name) implements MessageDefinition {
 
   private static final Logger logger = LoggerFactory.getLogger(@(type_name).class);