How well has actionlib been ported? I'm interested on working on that, but in a more improving-not-just-porting way. Specifically, I want to make actions a first-class citizen (like messages and services) and write up a REP that specifies how they should be defined and used, so that tools can be more certain about what they are dealing with. It would be great to have an "official" rosaction tool, for example, and to not see 5 topics when I list the currently in use topics.
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