diff --git a/.gitignore b/.gitignore
index ffafb58..b0c9e49 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,5 +2,14 @@ devel/
 build/
 .gradle/
 *.*~
-src/CMakeLists.txt
 .catkin_workspace
+
+# Java build artifacts class files
+*.class
+
+# other generated files
+bin/
+gen/
+build/
+
+rosjava_actionlib/bin
diff --git a/src/rosjava_actionlib/CMakeLists.txt b/CMakeLists.txt
similarity index 100%
rename from src/rosjava_actionlib/CMakeLists.txt
rename to CMakeLists.txt
diff --git a/src/rosjava_actionlib/build.gradle b/build.gradle
similarity index 100%
rename from src/rosjava_actionlib/build.gradle
rename to build.gradle
diff --git a/src/rosjava_actionlib/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
similarity index 100%
rename from src/rosjava_actionlib/gradle/wrapper/gradle-wrapper.jar
rename to gradle/wrapper/gradle-wrapper.jar
diff --git a/src/rosjava_actionlib/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
similarity index 100%
rename from src/rosjava_actionlib/gradle/wrapper/gradle-wrapper.properties
rename to gradle/wrapper/gradle-wrapper.properties
diff --git a/src/rosjava_actionlib/gradlew b/gradlew
similarity index 100%
rename from src/rosjava_actionlib/gradlew
rename to gradlew
diff --git a/src/rosjava_actionlib/gradlew.bat b/gradlew.bat
similarity index 100%
rename from src/rosjava_actionlib/gradlew.bat
rename to gradlew.bat
diff --git a/src/rosjava_actionlib/launch/client_demo.launch b/launch/client_demo.launch
similarity index 100%
rename from src/rosjava_actionlib/launch/client_demo.launch
rename to launch/client_demo.launch
diff --git a/src/rosjava_actionlib/launch/server_demo.launch b/launch/server_demo.launch
similarity index 100%
rename from src/rosjava_actionlib/launch/server_demo.launch
rename to launch/server_demo.launch
diff --git a/src/rosjava_actionlib/package.xml b/package.xml
similarity index 100%
rename from src/rosjava_actionlib/package.xml
rename to package.xml
diff --git a/src/rosjava_actionlib/rosjava_actionlib/build.gradle b/rosjava_actionlib/build.gradle
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/build.gradle
rename to rosjava_actionlib/build.gradle
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
similarity index 98%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
index 00861f8..e07f27f 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
+++ b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
@@ -78,7 +78,7 @@ public class ActionClient<T_ACTION_GOAL extends Message,
    * @param actionResultType A string with the type information for the result
    * message.
    */
-  ActionClient (ConnectedNode node, String actionName, String actionGoalType,
+  public ActionClient (ConnectedNode node, String actionName, String actionGoalType,
     String actionFeedbackType, String actionResultType) {
     this.node = node;
     this.actionName = actionName;
@@ -103,7 +103,7 @@ public void attachListener(ActionClientListener target) {
     */
   public void sendGoal(T_ACTION_GOAL agMessage, String id) {
     GoalID gid = getGoalId(agMessage);
-    if (id == "") {
+    if (id.equals("")) {
       goalIdGenerator.generateID(gid);
     } else {
       gid.setId(id);
@@ -293,9 +293,10 @@ public void gotStatus(GoalStatusArray message) {
     if (gstat != null) {
       // update the goal status tracking
       goalManager.updateStatus(gstat.getStatus());
-    } else {
-      log.info("Status update is not for our goal!");
     }
+    // else {
+    //   log.info("Status update is not for our goal!");
+    // }
     // Propagate the callback
     if (callbackTarget != null) {
       callbackTarget.statusReceived(message);
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionFeedback.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionFeedback.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionFeedback.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionFeedback.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionResult.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionResult.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionResult.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionResult.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
similarity index 96%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
index be6e3bf..0e7aaab 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
+++ b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
@@ -78,7 +78,7 @@ private class ServerGoal {
    * @param actionResultType String holding the type for the action result
    * message.
    */
-  ActionServer (ConnectedNode node, String actionName, String actionGoalType,
+  public ActionServer (ConnectedNode node, String actionName, String actionGoalType,
     String actionFeedbackType, String actionResultType) {
     this.node = node;
     this.actionName = actionName;
@@ -314,6 +314,17 @@ public void setSucceed(String goalIdString) {
     }
   }
 
+  /**
+   * Express a aborted event for this goal. The state of the goal will be updated.
+   */
+  public void setAborted(String goalIdString) {
+    try {
+      goalTracker.get(goalIdString).state.transition(ServerStateMachine.Events.ABORT);
+    }
+    catch (Exception e) {
+    }
+  }
+
   /**
    * Set goal ID and state information to the goal status message.
    * @param gstat GoalStatus message.
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServerListener.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServerListener.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServerListener.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServerListener.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/GoalIDGenerator.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/GoalIDGenerator.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/GoalIDGenerator.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/GoalIDGenerator.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java
similarity index 99%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java
index e3d0830..418610e 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java
+++ b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java
@@ -35,7 +35,7 @@ public static class Events {
 
   private int state;
 
-  ServerStateMachine() {
+  public ServerStateMachine() {
     // Initial state
     state = GoalStatus.PENDING;
   }
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java b/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
rename to rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/test/java/TestClientStateMachine.java b/rosjava_actionlib/src/test/java/TestClientStateMachine.java
similarity index 100%
rename from src/rosjava_actionlib/rosjava_actionlib/src/test/java/TestClientStateMachine.java
rename to rosjava_actionlib/src/test/java/TestClientStateMachine.java
diff --git a/src/rosjava_actionlib/settings.gradle b/settings.gradle
similarity index 100%
rename from src/rosjava_actionlib/settings.gradle
rename to settings.gradle