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it seems that I have misunderstood the .action file to be like message definition. Reading the http://wiki.ros.org/actionlib documentation , it will seem that the action file will generate 3 message object

FollowJointTrajectoryGoal
FollowJointTrajectoryResult
FollowJointTrajectoryFeedBack

each for the different action state.

The objectType FollowJointTrajectoryGoal will be used to send the goals.

Will test this out and update the result.

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