No really. Albeit actionlib provides asynchronous IPC-like interaction,
as far as I have understood, their semantics are ones of an action in
the robotic meaning, not of an IPC.

actionlib is probably your best bet right now. It's not restricted for use only with robotic actions.

Asynchronous service calls haven't been a priority for roscpp, and we're trying to push most code away from service calls, either to actions or something else.

Josh