diff --git a/rosidl_actions/rosidl_actions/__init__.py b/rosidl_actions/rosidl_actions/__init__.py
index 1c41e7028..12baa80c5 100644
--- a/rosidl_actions/rosidl_actions/__init__.py
+++ b/rosidl_actions/rosidl_actions/__init__.py
@@ -26,13 +26,13 @@ def generate_msg_and_srv(generator_arguments_file):
         extension = os.path.splitext(ros_interface_file)[1]
         subfolder = os.path.basename(os.path.dirname(ros_interface_file))
         if extension == '.action':
-            services, message = parse_action_file(args['package_name'], ros_interface_file)
+            action = parse_action_file(args['package_name'], ros_interface_file)
 
             # create folder if necessary
             os.makedirs(os.path.join(args['output_dir'], subfolder), exist_ok=True)
 
             generated_folder = os.path.join(args['output_dir'], subfolder)
-            for service in services:
+            for service in action.services:
                 srv_file = os.path.join(generated_folder, service.srv_name + '.srv')
                 req_file = os.path.join(generated_folder, service.srv_name + '_Request.msg')
                 rsp_file = os.path.join(generated_folder, service.srv_name + '_Response.msg')
@@ -43,6 +43,7 @@ def generate_msg_and_srv(generator_arguments_file):
                 with open(rsp_file, 'w+') as fout:
                     fout.write(str(service.response))
 
-            generated_file = os.path.join(args['output_dir'], subfolder, message.msg_name + '.msg')
+            generated_file = os.path.join(
+                args['output_dir'], subfolder, action.feedback.msg_name + '.msg')
             with open(generated_file, 'w+') as fout:
-                fout.write(str(message))
+                fout.write(str(action.feedback))
diff --git a/rosidl_cmake/cmake/rosidl_generate_action_interfaces.cmake b/rosidl_cmake/cmake/rosidl_generate_action_interfaces.cmake
new file mode 100644
index 000000000..9e6610a6c
--- /dev/null
+++ b/rosidl_cmake/cmake/rosidl_generate_action_interfaces.cmake
@@ -0,0 +1,93 @@
+# Copyright 2018 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.
+
+# Generate Interfaces for Actions
+#
+# This executes the extension point ``rosidl_generate_action_interfaces``.
+# An extension of this type should expect a list of `.action` files and
+# generate new files in response.
+# Extensions should create a target that generates the files with the input
+# `.action` file as a dependency.
+#
+# :param target: the _name of the generation target,
+#   specific generators might use the _name as a prefix for their own
+#   generation step
+# :type target: string
+# :param ARGN: a list of include directories where each value might
+#   be either an absolute path or path relative to the
+#   CMAKE_INSTALL_PREFIX.
+# :type ARGN: list of strings
+# :param DEPENDENCY_PACKAGE_NAMES: Packages with interface files generation
+# should depend on
+# :type DEPENDENCY_PACKAGE_NAMES: list of strings
+# :param TARGET_DEPENDENCIES: cmake targets or files the generated target
+#   should depend on
+# :type TARGET_DEPENDENCIES: list of strings
+# :param LIBRARY_NAME: the base name of the library, specific generators might
+#   append their own suffix
+# :type LIBRARY_NAME: string
+# :param SKIP_INSTALL: if set skip installing the interface files
+# :type SKIP_INSTALL: option
+# :param ADD_LINTER_TESTS: if set lint the interface files using
+#   the ``ament_lint`` package
+# :type ADD_LINTER_TESTS: option
+#
+# @public
+#
+macro(rosidl_generate_action_interfaces target)
+  cmake_parse_arguments(_ARG_RGAI
+    "ADD_LINTER_TESTS;SKIP_INSTALL"
+    "LIBRARY_NAME" "TARGET_DEPENDENCIES"
+    ${ARGN})
+  if(NOT _ARG_RGAI_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "rosidl_generate_action_interfaces() called without any idl "
+      "files")
+  endif()
+
+  set(_rgai_idl_files ${_ARG_RGAI_UNPARSED_ARGUMENTS})
+
+  # Create a custom target
+  set(_rgai_sub_target "${target}+generate_action_interfaces")
+  add_custom_target(
+    ${_rgai_sub_target} ALL
+    DEPENDS
+    ${_rgai_idl_files}
+    ${_ARG_RGAI_TARGET_DEPENDENCIES}
+    SOURCES
+    ${_rgai_idl_files}
+  )
+
+  # downstream packages need to depend on action_msgs for cancel and status messages
+  list_append_unique(_ARG_RGAI_DEPENDENCY_PACKAGE_NAMES "action_msgs")
+  # downstream packages need to depend on builtin_interfaces for builtin_interfaces/Time
+  list_append_unique(_ARG_RGAI_DEPENDENCY_PACKAGE_NAMES "builtin_interfaces")
+  ament_export_dependencies(action_msgs)
+  ament_export_dependencies(builtin_interfaces)
+
+  # A target name that generators may want to use to prefix their own target names
+  set(rosidl_generate_action_interfaces_TARGET ${target})
+  # Give extensions a list of .action files to generate interfaces from
+  set(rosidl_generate_action_interfaces_IDL_FILES ${_rgai_idl_files})
+  # TODO(sloretz) Where is LIBRARY_NAME used?
+  set(rosidl_generate_action_interfaces_LIBRARY_NAME ${_ARG_RGAI_LIBRARY_NAME})
+  # If true the extension should not install anything it generates
+  set(rosidl_generate_action_interfaces_SKIP_INSTALL ${_ARG_RGAI_SKIP_INSTALL})
+  # If true the extension should create tests for language specific linters
+  set(rosidl_generate_action_interfaces_ADD_LINTER_TESTS ${_ARG_RGAI_ADD_LINTER_TESTS})
+  # Packages that generated code should depend on
+  set(rosidl_generate_action_interfaces_DEPENDENCY_PACKAGE_NAMES ${_ARG_RGAI_DEPENDENCY_PACKAGE_NAMES})
+  ament_execute_extensions("rosidl_generate_action_interfaces")
+
+  add_dependencies(${target} ${_rgai_sub_target})
+endmacro()
diff --git a/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake b/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake
index 3216b0fdc..92a8594ad 100644
--- a/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake
+++ b/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake
@@ -207,6 +207,32 @@ macro(rosidl_generate_interfaces target)
   set(rosidl_generate_interfaces_ADD_LINTER_TESTS ${_ARG_ADD_LINTER_TESTS})
   ament_execute_extensions("rosidl_generate_interfaces")
 
+  if(_action_files)
+    # Invoke generation for `.action` files
+    set(_skip_install "")
+    if(_ARG_SKIP_INSTALL)
+      set(_skip_install "SKIP_INSTALL")
+    endif()
+    set(_add_linter_tests "")
+    if(_ARG_ADD_LINTER_TESTS)
+      set(_add_linter_tests "ADD_LINTER_TESTS")
+    endif()
+    set(_library_name "")
+    if(_ARG_LIBRARY_NAME)
+      set(_library_name "LIBRARY ${_ARG_LIBRARY_NAME}")
+    endif()
+    set(_pkg_depends "")
+    if(_recursive_dependencies)
+      set(_pkg_depends "DEPENDENCY_PACKAGE_NAMES ${_recursive_dependencies}")
+    endif()
+    rosidl_generate_action_interfaces(${target}
+      ${_skip_install}
+      ${_add_linter_tests}
+      ${_library_name}
+      ${_action_files}
+    )
+  endif()
+
   if(NOT _ARG_SKIP_INSTALL)
     # install interface files to subfolders based on their extension
     foreach(_idl_file ${_idl_files})
diff --git a/rosidl_cmake/rosidl_cmake-extras.cmake b/rosidl_cmake/rosidl_cmake-extras.cmake
index 1a9e0edff..0ca0e3c38 100644
--- a/rosidl_cmake/rosidl_cmake-extras.cmake
+++ b/rosidl_cmake/rosidl_cmake-extras.cmake
@@ -28,6 +28,7 @@ macro(_rosidl_cmake_register_package_hook)
 endmacro()
 
 include("${rosidl_cmake_DIR}/rosidl_convert_actions_to_msg_and_srv.cmake")
+include("${rosidl_cmake_DIR}/rosidl_generate_action_interfaces.cmake")
 include("${rosidl_cmake_DIR}/rosidl_generate_interfaces.cmake")
 include("${rosidl_cmake_DIR}/rosidl_identify_action_idls.cmake")
 include("${rosidl_cmake_DIR}/rosidl_target_interfaces.cmake")
diff --git a/rosidl_generator_c/cmake/register_c.cmake b/rosidl_generator_c/cmake/register_c.cmake
index 9ddb1a4fc..8b0d66d10 100644
--- a/rosidl_generator_c/cmake/register_c.cmake
+++ b/rosidl_generator_c/cmake/register_c.cmake
@@ -19,6 +19,11 @@ macro(rosidl_generator_c_extras BIN GENERATOR_FILES TEMPLATE_DIR)
     "rosidl_generator_c"
     "rosidl_generator_c_generate_interfaces.cmake")
 
+  ament_register_extension(
+    "rosidl_generate_action_interfaces"
+    "rosidl_generator_c"
+    "rosidl_generator_c_generate_action_interfaces.cmake")
+
   normalize_path(BIN "${BIN}")
   set(rosidl_generator_c_BIN "${BIN}")
 
diff --git a/rosidl_generator_c/cmake/rosidl_generator_c_generate_action_interfaces.cmake b/rosidl_generator_c/cmake/rosidl_generator_c_generate_action_interfaces.cmake
new file mode 100644
index 000000000..860db6465
--- /dev/null
+++ b/rosidl_generator_c/cmake/rosidl_generator_c_generate_action_interfaces.cmake
@@ -0,0 +1,150 @@
+# Copyright 2018 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.
+
+set(_output_path
+  "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c/${PROJECT_NAME}")
+set(_generated_files "")
+
+foreach(_idl_file ${rosidl_generate_action_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  if(_extension STREQUAL ".action")
+    set(_allowed_parent_folders "action")
+    if(NOT _parent_folder IN_LIST _allowed_parent_folders)
+      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
+    endif()
+  else()
+    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
+  endif()
+  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_msg_name}" _header_name)
+  list(APPEND _generated_files
+    "${_output_path}/${_parent_folder}/${_header_name}.h"
+    "${_output_path}/${_parent_folder}/${_header_name}__type_support.h"
+  )
+endforeach()
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_action_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  if(_extension STREQUAL ".msg")
+    set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
+    normalize_path(_abs_idl_file "${_abs_idl_file}")
+    list(APPEND _dependency_files "${_abs_idl_file}")
+    list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
+  endif()
+  endforeach()
+endforeach()
+
+set(target_dependencies
+  "${rosidl_generator_c_BIN}"
+  ${rosidl_generator_c_GENERATOR_FILES}
+  "${rosidl_generator_c_TEMPLATE_DIR}/action.h.em"
+  "${rosidl_generator_c_TEMPLATE_DIR}/action__type_support.h.em"
+  ${rosidl_generate_action_interfaces_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    get_property(is_generated SOURCE "${dep}" PROPERTY GENERATED)
+    if(NOT ${_is_generated})
+      message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+    endif()
+  endif()
+endforeach()
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__generate_action_interfaces__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_action_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${rosidl_generator_c_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+)
+
+add_custom_command(
+  OUTPUT ${_generated_files}
+  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_c_BIN}
+  --generator-arguments-file "${generator_arguments_file}"
+  DEPENDS ${target_dependencies}
+  COMMENT "Generating C++ type support dispatch for ROS interfaces"
+  VERBATIM
+)
+
+# generate header to switch between export and import for a specific package
+set(_visibility_control_file
+  "${_output_path}/action/rosidl_generator_c__visibility_control.h")
+string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
+configure_file(
+  "${rosidl_generator_c_TEMPLATE_DIR}/rosidl_generator_c__action_visibility_control.h.in"
+  "${_visibility_control_file}"
+  @ONLY
+)
+list(APPEND _generated_files ${_visibility_control_file})
+
+set(_target_suffix "__c__actions")
+
+if(TARGET ${rosidl_generate_action_interfaces_TARGET}${_target_suffix})
+  message(WARNING "Custom target ${rosidl_generate_action_interfaces_TARGET}${_target_suffix} already exists")
+else()
+  add_custom_target(
+    ${rosidl_generate_action_interfaces_TARGET}${_target_suffix}
+    DEPENDS
+    ${_generated_files}
+  )
+endif()
+
+add_dependencies(
+  ${rosidl_generate_action_interfaces_TARGET}
+  ${rosidl_generate_action_interfaces_TARGET}${_target_suffix}
+)
+
+if(NOT rosidl_generate_action_interfaces_SKIP_INSTALL)
+  if(NOT _generated_files STREQUAL "")
+    install(
+      FILES ${_generated_files}
+      DESTINATION "include/${PROJECT_NAME}/action"
+    )
+  endif()
+  ament_export_include_directories(include)
+endif()
+
+if(BUILD_TESTING AND rosidl_generate_action_interfaces_ADD_LINTER_TESTS)
+  if(NOT _generated_files STREQUAL "")
+    find_package(ament_cmake_cppcheck REQUIRED)
+    ament_cppcheck(
+      TESTNAME "cppcheck_rosidl_generator_c_generate_action_interfaces"
+      "${_output_path}")
+
+    find_package(ament_cmake_cpplint REQUIRED)
+    get_filename_component(_cpplint_root "${_output_path}" DIRECTORY)
+    ament_cpplint(
+      TESTNAME "cpplint_rosidl_generator_c_generate_action_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ROOT "${_cpplint_root}"
+      "${_output_path}")
+
+    find_package(ament_cmake_uncrustify REQUIRED)
+    ament_uncrustify(
+      TESTNAME "uncrustify_rosidl_generator_c_generate_action_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      "${_output_path}")
+  endif()
+endif()
diff --git a/rosidl_generator_c/resource/action.h.em b/rosidl_generator_c/resource/action.h.em
new file mode 100644
index 000000000..52d94f5bd
--- /dev/null
+++ b/rosidl_generator_c/resource/action.h.em
@@ -0,0 +1,43 @@
+// generated from rosidl_generator_c/resource/action.h.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <action>.hp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.ActionSpecification)
+@#    Parsed specification of the .action file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message, usually 'action'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.pkg_name, subfolder,
+    get_header_filename_from_msg_name(spec.action_name) + '_h']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <action_msgs/msg/goal_info.h>
+#include <action_msgs/msg/goal_status_array.h>
+#include <action_msgs/srv/cancel_goal.h>
+
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__feedback.h>
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__goal.h>
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__result.h>
+#include "@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__type_support.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_generator_c/resource/action__type_support.h.em b/rosidl_generator_c/resource/action__type_support.h.em
new file mode 100644
index 000000000..b9ef63aff
--- /dev/null
+++ b/rosidl_generator_c/resource/action__type_support.h.em
@@ -0,0 +1,47 @@
+// generated from rosidl_generator_c/resource/action__type_support.h.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <action>__type_support.h files
+@#
+@# Context:
+@#  - spec (rosidl_parser.ActionSpecification)
+@#    Parsed specification of the .action file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message, usually 'action'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.pkg_name, subfolder,
+    get_header_filename_from_msg_name(spec.action_name) + '__type_support_h']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rosidl_generator_c/action_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "@(spec.pkg_name)/@(subfolder)/rosidl_generator_c__visibility_control.h"
+
+/* *INDENT-OFF* */
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_@(spec.pkg_name)_ACTION
+const rosidl_action_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
+  rosidl_typesupport_c, @(spec.pkg_name), @(subfolder), @(spec.action_name))();
+/* *INDENT-ON* */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_generator_c/resource/rosidl_generator_c__action_visibility_control.h.in b/rosidl_generator_c/resource/rosidl_generator_c__action_visibility_control.h.in
new file mode 100644
index 000000000..103572070
--- /dev/null
+++ b/rosidl_generator_c/resource/rosidl_generator_c__action_visibility_control.h.in
@@ -0,0 +1,43 @@
+// generated from
+// rosidl_generator_c/resource/rosidl_generator_c__action_visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef @PROJECT_NAME_UPPER@__ACTION__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+#define @PROJECT_NAME_UPPER@__ACTION__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_GENERATOR_C_EXPORT_@PROJECT_NAME@_ACTION __attribute__ ((dllexport))
+    #define ROSIDL_GENERATOR_C_IMPORT_@PROJECT_NAME@_ACTION __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_GENERATOR_C_EXPORT_@PROJECT_NAME@_ACTION __declspec(dllexport)
+    #define ROSIDL_GENERATOR_C_IMPORT_@PROJECT_NAME@_ACTION __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_GENERATOR_C_BUILDING_DLL_@PROJECT_NAME@_ACTION
+    #define ROSIDL_GENERATOR_C_PUBLIC_@PROJECT_NAME@_ACTION ROSIDL_GENERATOR_C_EXPORT_@PROJECT_NAME@_ACTION
+  #else
+    #define ROSIDL_GENERATOR_C_PUBLIC_@PROJECT_NAME@_ACTION ROSIDL_GENERATOR_C_IMPORT_@PROJECT_NAME@_ACTION
+  #endif
+#else
+  #define ROSIDL_GENERATOR_C_EXPORT_@PROJECT_NAME@_ACTION __attribute__ ((visibility("default")))
+  #define ROSIDL_GENERATOR_C_IMPORT_@PROJECT_NAME@_ACTION
+  #if __GNUC__ >= 4
+    #define ROSIDL_GENERATOR_C_PUBLIC_@PROJECT_NAME@_ACTION __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_GENERATOR_C_PUBLIC_@PROJECT_NAME@_ACTION
+  #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @PROJECT_NAME_UPPER@__ACTION__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
diff --git a/rosidl_generator_c/rosidl_generator_c/__init__.py b/rosidl_generator_c/rosidl_generator_c/__init__.py
index 9d855a689..fa62b96da 100644
--- a/rosidl_generator_c/rosidl_generator_c/__init__.py
+++ b/rosidl_generator_c/rosidl_generator_c/__init__.py
@@ -18,6 +18,7 @@
 from rosidl_cmake import expand_template
 from rosidl_cmake import get_newest_modification_time
 from rosidl_cmake import read_generator_arguments
+from rosidl_parser import parse_action_file
 from rosidl_parser import parse_message_file
 from rosidl_parser import parse_service_file
 
@@ -36,6 +37,10 @@ def generate_c(generator_arguments_file):
     mapping_srvs = {
         os.path.join(template_dir, 'srv.h.em'): '%s.h',
     }
+    mapping_action = {
+        os.path.join(template_dir, 'action.h.em'): '%s.h',
+        os.path.join(template_dir, 'action__type_support.h.em'): '%s__type_support.h',
+    }
     for template_file in list(mapping_msgs.keys()) + list(mapping_srvs.keys()):
         assert os.path.exists(template_file), 'Could not find template: ' + template_file
 
@@ -75,6 +80,17 @@ def generate_c(generator_arguments_file):
                 expand_template(
                     template_file, data, generated_file,
                     minimum_timestamp=latest_target_timestamp)
+        elif extension == '.action':
+            spec = parse_action_file(args['package_name'], ros_interface_file)
+            for template_file, generated_filename in mapping_action.items():
+                data = {'spec': spec, 'subfolder': subfolder}
+                data.update(functions)
+                generated_file = os.path.join(
+                    args['output_dir'], subfolder, generated_filename %
+                    convert_camel_case_to_lower_case_underscore(spec.action_name))
+                expand_template(
+                    template_file, data, generated_file,
+                    minimum_timestamp=latest_target_timestamp)
     return 0
 
 
diff --git a/rosidl_generator_cpp/cmake/register_cpp.cmake b/rosidl_generator_cpp/cmake/register_cpp.cmake
index 4b38d7a8b..9a5216e48 100644
--- a/rosidl_generator_cpp/cmake/register_cpp.cmake
+++ b/rosidl_generator_cpp/cmake/register_cpp.cmake
@@ -19,6 +19,11 @@ macro(rosidl_generator_cpp_extras BIN GENERATOR_FILES TEMPLATE_DIR)
     "rosidl_generator_cpp"
     "rosidl_generator_cpp_generate_interfaces.cmake")
 
+ament_register_extension(
+  "rosidl_generate_action_interfaces"
+  "rosidl_generator_cpp"
+  "rosidl_generator_cpp_generate_action_interfaces.cmake")
+
   normalize_path(BIN "${BIN}")
   set(rosidl_generator_cpp_BIN "${BIN}")
 
diff --git a/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_action_interfaces.cmake b/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_action_interfaces.cmake
new file mode 100644
index 000000000..fbcc43741
--- /dev/null
+++ b/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_action_interfaces.cmake
@@ -0,0 +1,139 @@
+# Copyright 2018 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.
+
+set(_output_path
+  "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp/${PROJECT_NAME}")
+set(_generated_files "")
+
+foreach(_idl_file ${rosidl_generate_action_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  if(_extension STREQUAL ".action")
+    set(_allowed_parent_folders "action")
+    if(NOT _parent_folder IN_LIST _allowed_parent_folders)
+      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
+    endif()
+  else()
+    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
+  endif()
+  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_msg_name}" _header_name)
+  list(APPEND _generated_files
+    "${_output_path}/${_parent_folder}/${_header_name}__struct.hpp"
+    "${_output_path}/${_parent_folder}/${_header_name}.hpp"
+  )
+endforeach()
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_action_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  if(_extension STREQUAL ".msg")
+    set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
+    normalize_path(_abs_idl_file "${_abs_idl_file}")
+    list(APPEND _dependency_files "${_abs_idl_file}")
+    list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
+  endif()
+  endforeach()
+endforeach()
+
+set(target_dependencies
+  "${rosidl_generator_cpp_BIN}"
+  ${rosidl_generator_cpp_GENERATOR_FILES}
+  "${rosidl_generator_cpp_TEMPLATE_DIR}/action__struct.hpp.em"
+  "${rosidl_generator_cpp_TEMPLATE_DIR}/action.hpp.em"
+  ${rosidl_generate_action_interfaces_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    get_property(is_generated SOURCE "${dep}" PROPERTY GENERATED)
+    if(NOT ${_is_generated})
+      message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+    endif()
+  endif()
+endforeach()
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp__generate_action_interfaces__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_action_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${rosidl_generator_cpp_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+)
+
+add_custom_command(
+  OUTPUT ${_generated_files}
+  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_cpp_BIN}
+  --generator-arguments-file "${generator_arguments_file}"
+  DEPENDS ${target_dependencies}
+  COMMENT "Generating C++ type support dispatch for ROS interfaces"
+  VERBATIM
+)
+
+set(_target_suffix "__cpp__actions")
+
+if(TARGET ${rosidl_generate_action_interfaces_TARGET}${_target_suffix})
+  message(WARNING "Custom target ${rosidl_generate_action_interfaces_TARGET}${_target_suffix} already exists")
+else()
+  add_custom_target(
+    ${rosidl_generate_action_interfaces_TARGET}${_target_suffix}
+    DEPENDS
+    ${_generated_files}
+  )
+endif()
+
+add_dependencies(
+  ${rosidl_generate_action_interfaces_TARGET}
+  ${rosidl_generate_action_interfaces_TARGET}${_target_suffix}
+)
+
+if(NOT rosidl_generate_action_interfaces_SKIP_INSTALL)
+  if(NOT _generated_files STREQUAL "")
+    install(
+      FILES ${_generated_files}
+      DESTINATION "include/${PROJECT_NAME}/action"
+    )
+  endif()
+  ament_export_include_directories(include)
+endif()
+
+if(BUILD_TESTING AND rosidl_generate_action_interfaces_ADD_LINTER_TESTS)
+  if(NOT _generated_files STREQUAL "")
+    find_package(ament_cmake_cppcheck REQUIRED)
+    ament_cppcheck(
+      TESTNAME "cppcheck_rosidl_generator_cpp_generate_action_interfaces"
+      "${_output_path}")
+
+    find_package(ament_cmake_cpplint REQUIRED)
+    get_filename_component(_cpplint_root "${_output_path}" DIRECTORY)
+    ament_cpplint(
+      TESTNAME "cpplint_rosidl_generator_cpp_generate_action_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ROOT "${_cpplint_root}"
+      "${_output_path}")
+
+    find_package(ament_cmake_uncrustify REQUIRED)
+    ament_uncrustify(
+      TESTNAME "uncrustify_rosidl_generator_cpp_generate_action_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      "${_output_path}")
+  endif()
+endif()
diff --git a/rosidl_generator_cpp/resource/action.hpp.em b/rosidl_generator_cpp/resource/action.hpp.em
new file mode 100644
index 000000000..549cad240
--- /dev/null
+++ b/rosidl_generator_cpp/resource/action.hpp.em
@@ -0,0 +1,26 @@
+// generated from rosidl_generator_cpp/resource/action.hpp.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <action>.hpp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.ActionSpecification)
+@#    Parsed specification of the .action file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message, usually 'action'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.pkg_name, subfolder,
+    get_header_filename_from_msg_name(spec.action_name) + '_hpp']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__struct.hpp>
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_generator_cpp/resource/action__struct.hpp.em b/rosidl_generator_cpp/resource/action__struct.hpp.em
new file mode 100644
index 000000000..75d87ad67
--- /dev/null
+++ b/rosidl_generator_cpp/resource/action__struct.hpp.em
@@ -0,0 +1,55 @@
+// generated from rosidl_generator_cpp/resource/action__struct.hpp.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <action>__struct.hpp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.ActionSpecification)
+@#    Parsed specification of the .action file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message, usually 'action'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.pkg_name, subfolder,
+    get_header_filename_from_msg_name(spec.action_name) + '__struct_hpp']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#include <action_msgs/srv/cancel_goal.hpp>
+#include <action_msgs/msg/goal_info.hpp>
+#include <action_msgs/msg/goal_status_array.hpp>
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__feedback.hpp>
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__goal.hpp>
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__result.hpp>
+
+namespace @(spec.pkg_name)
+{
+
+namespace @(subfolder)
+{
+
+struct @(spec.action_name)
+{
+  using CancelGoalService = action_msgs::srv::CancelGoal;
+  using GoalStatusMessage = action_msgs::msg::GoalStatusArray;
+  using GoalRequestService = @(spec.pkg_name)::@(subfolder)::@(spec.action_name)_Goal;
+  using GoalResultService = @(spec.pkg_name)::@(subfolder)::@(spec.action_name)_Result;
+
+  using Goal = GoalRequestService::Request;
+  using Result = GoalResultService::Response;
+  using Feedback = @(spec.pkg_name)::@(subfolder)::@(spec.action_name)_Feedback;
+};
+
+typedef struct @(spec.action_name) @(spec.action_name);
+
+}  // namespace @(subfolder)
+
+}  // namespace @(spec.pkg_name)
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py b/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
index db31b9a55..3697386b5 100644
--- a/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
+++ b/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
@@ -18,6 +18,7 @@
 from rosidl_cmake import expand_template
 from rosidl_cmake import get_newest_modification_time
 from rosidl_cmake import read_generator_arguments
+from rosidl_parser import parse_action_file
 from rosidl_parser import parse_message_file
 from rosidl_parser import parse_service_file
 
@@ -37,10 +38,18 @@ def generate_cpp(generator_arguments_file):
         os.path.join(template_dir, 'srv__struct.hpp.em'): '%s__struct.hpp',
         os.path.join(template_dir, 'srv__traits.hpp.em'): '%s__traits.hpp',
     }
+
+    mapping_actions = {
+        os.path.join(template_dir, 'action.hpp.em'): '%s.hpp',
+        os.path.join(template_dir, 'action__struct.hpp.em'): '%s__struct.hpp',
+    }
+
     for template_file in mapping_msgs.keys():
         assert os.path.exists(template_file), 'Could not find template: ' + template_file
     for template_file in mapping_srvs.keys():
         assert os.path.exists(template_file), 'Could not find template: ' + template_file
+    for template_file in mapping_actions.keys():
+        assert os.path.exists(template_file), 'Could not find template: ' + template_file
 
     functions = {
         'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
@@ -74,6 +83,18 @@ def generate_cpp(generator_arguments_file):
                     template_file, data, generated_file,
                     minimum_timestamp=latest_target_timestamp)
 
+        elif extension == '.action':
+            spec = parse_action_file(args['package_name'], ros_interface_file)
+            for template_file, generated_filename in mapping_actions.items():
+                data = {'spec': spec, 'subfolder': subfolder}
+                data.update(functions)
+                generated_file = os.path.join(
+                    args['output_dir'], subfolder, generated_filename %
+                    convert_camel_case_to_lower_case_underscore(spec.action_name))
+                expand_template(
+                    template_file, data, generated_file,
+                    minimum_timestamp=latest_target_timestamp)
+
     return 0
 
 
diff --git a/rosidl_parser/rosidl_parser/__init__.py b/rosidl_parser/rosidl_parser/__init__.py
index 11b603b65..f034934ce 100644
--- a/rosidl_parser/rosidl_parser/__init__.py
+++ b/rosidl_parser/rosidl_parser/__init__.py
@@ -700,6 +700,12 @@ def validate_field_types(spec, known_msg_types):
     elif isinstance(spec, ServiceSpecification):
         spec_type = 'Service'
         fields = spec.request.fields + spec.response.fields
+    elif isinstance(spec, ActionSpecification):
+        spec_type = 'Action'
+        fields = []
+        for service in spec.services:
+            fields += service.request.fields
+            fields += service.response.fields
     else:
         assert False, 'Unknown specification type: %s' % type(spec)
     for field in fields:
@@ -709,7 +715,7 @@ def validate_field_types(spec, known_msg_types):
         if base_type not in known_msg_types:
             raise UnknownMessageType(
                 "%s interface '%s' contains an unknown field type: %s" %
-                (spec_type, spec.base_type, field))
+                (spec_type, base_type, field))
 
 
 class ServiceSpecification:
@@ -761,6 +767,15 @@ def parse_service_string(pkg_name, srv_name, message_string):
     return ServiceSpecification(pkg_name, srv_name, request_message, response_message)
 
 
+class ActionSpecification:
+
+    def __init__(self, pkg_name, action_name, services, feedback_message):
+        self.pkg_name = pkg_name
+        self.action_name = action_name
+        self.services = services
+        self.feedback = feedback_message
+
+
 def parse_action_file(pkg_name, interface_filename):
     basename = os.path.basename(interface_filename)
     action_name = os.path.splitext(basename)[0]
@@ -833,4 +848,4 @@ def parse_action_string(pkg_name, action_name, action_string):
         pkg_name, action_name + ACTION_FEEDBACK_MESSAGE_SUFFIX, message_string)
     # ---------------------------------------------------------------------------------------------
 
-    return (services, feedback_msg)
+    return ActionSpecification(pkg_name, action_name, services, feedback_msg)
diff --git a/rosidl_parser/test/test_parse_action_string.py b/rosidl_parser/test/test_parse_action_string.py
index d0f36c0c4..4f592902e 100644
--- a/rosidl_parser/test/test_parse_action_string.py
+++ b/rosidl_parser/test/test_parse_action_string.py
@@ -43,8 +43,9 @@ def test_valid_action_string():
 
 
 def test_valid_action_string1():
-    (services, feedback_msg) = parse_action_string(
-        'pkg', 'Foo', 'bool foo\n---\nint8 bar\n---\nbool foo')
+    spec = parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---\nbool foo')
+    services = spec.services
+    feedback_msg = spec.feedback
     assert len(services) == 2
     goal_service, result_service = services
     # Goal service checks
@@ -79,8 +80,10 @@ def test_valid_action_string1():
 
 
 def test_valid_action_string2():
-    (services, feedback_msg) = parse_action_string(
+    spec = parse_action_string(
         'pkg', 'Foo', '#comment---\n \nbool foo\n---\n#comment\n \nint8 bar\n---\nbool foo')
+    services = spec.services
+    feedback_msg = spec.feedback
     assert len(services) == 2
     goal_service, result_service = services
     # Goal service checks
@@ -115,10 +118,12 @@ def test_valid_action_string2():
 
 
 def test_valid_action_string3():
-    (services, feedback_msg) = parse_action_string(
+    spec = parse_action_string(
         'pkg',
         'Foo',
         'bool foo\nstring status\n---\nbool FOO=1\nint8 bar\n---\nbool BAR=1\nbool foo')
+    services = spec.services
+    feedback_msg = spec.feedback
     assert len(services) == 2
     goal_service, result_service = services
     # Goal service checks