diff --git a/src/custom_interfaces/CMakeLists.txt b/src/custom_interfaces/CMakeLists.txt
index e50f122..826b226 100644
--- a/src/custom_interfaces/CMakeLists.txt
+++ b/src/custom_interfaces/CMakeLists.txt
@@ -36,13 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/CustomMsg1.msg"
   "msg/CustomMsg2.msg"
   "srv/CustomSrv1.srv"
-  "srv/StateMachineSrv.srv"
-  "srv/InclineControlSRV.srv"
-  "srv/MosfetControlSRV.srv"
-  "srv/PitchControlSRV.srv"
-  "srv/RotationControlSRV.srv"
-  "srv/SensorSRV.srv"
-  "srv/WatchdogSRV.srv"
+  "action/TestACT.action"
   DEPENDENCIES builtin_interfaces
  )
 
diff --git a/src/custom_interfaces/action/TestACT.action b/src/custom_interfaces/action/TestACT.action
new file mode 100644
index 0000000..0e4659c
--- /dev/null
+++ b/src/custom_interfaces/action/TestACT.action
@@ -0,0 +1,8 @@
+#Goal
+int8 number
+---
+#Response/Result
+bool success
+---
+#Feedback
+int8 current_number
diff --git a/src/custom_interfaces/package.xml b/src/custom_interfaces/package.xml
index 8c22c2a..b519677 100644
--- a/src/custom_interfaces/package.xml
+++ b/src/custom_interfaces/package.xml
@@ -13,10 +13,14 @@
   
   
   
+  
   <!-- ADD THESE LINES: START HERE -->
   
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <depend>action_msgs</depend>
+
   
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/src/pubsub/setup.py b/src/pubsub/setup.py
index f7f03ec..69249af 100644
--- a/src/pubsub/setup.py
+++ b/src/pubsub/setup.py
@@ -25,7 +25,10 @@ setup(
             'srvhost = pubsub.service_host:main',
             'srvclient = pubsub.service_client:main',
             'smhost = pubsub.statemachine_host_example:main',
-            'smclient = pubsub.statemachine_client_example:main'
+            'smclient = pubsub.statemachine_client_example:main',
+            'actclient = just_ros_test_stuff.client_example:main',
+            'actserver = just_ros_test_stuff.server_example:main',
+            'actsub = just_ros_test_stuff.sub:main',
         ],
     },
 )