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No plan that I know of and I'm not exactly sure of the current status having never tried it, but I know that Damon has said that it really needs some love and just needs someone to step up and do it.
As a workaround, if you are wanting to write the client side in java to connect to a server side in python/c++, then you can do it fairly simply by just attaching handles to the publishers and subscribers manually. That is, use pubsub in a way that gets what you want out of the action server. It's more work to do it like this than to use a convenient action client front end such as there is for python and c++, but it works.
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